Hi , i am using the odrive s1 and botwheel for motor come wheel , i select for botwheel encoder 3200cpr but i get the position in turns/sec so how can i use the 3200cpr for encoder. i using the uart transmission can anybody share the logic for encoder and odom calculation for botwheel . and odom signal in rviz2 is shifting automatically.
The ODrive will automatically read and filter the encoder data, producing the position in turns and velocity in turn/s. You can use this for standard odometry models, but you may have to convert from turn/s and turns to linear speed/distance.