Chapter 3: Assemble and Test Your Boe-Bot · Page 117
Since the servo turns for 6 seconds, you can multiply this value by 10 to get revolutions
per minute (RPM).
√ Multiply this value by 10 and enter the result into Table 3-1 next to the 1.3 ms
entry.
√ Enter the value 655.
√ Count how many turns the wheel made.
√ Multiply this value by 10 and enter the result into Table 3-1 next to the 1.31 ms
entry.
√ Keep increasing your durations by 5 (0.01 ms) until you are up to 850 (1.7 ms).
√ Use a spreadsheet, calculator, or graph paper to graph the data.
√ Repeat this process for your other servo.
You can repeat these measurements for the left wheel. You will have to modify the
PULSOUT commands so that pulses with a duration of pulseWidth are sent to P13 and
pulses with a duration of
pulseWidthComp are sent to P12.
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