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Step 4: upload the program again. The number of steps per rotation of the encoder shaft, N = 24-step wheel diameter, D = 12. Wheel circumference 7mm, C = 2 * pi *(D/2)= 2*3. 14*6. 35 = 39. 898 mmTherefore, walk from each step = C/N = 39. 898/24 = 1. 6625mm if you are using wheels or encoders of different diameters, the number of steps is different, find the distance moving per mm by replacing the values in the formula above, once the resolution is found, enter this value in the formula in the code, as shown in the figure.

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This encoder rotates 24 steps each. Using this, if the wheel diameter is known, we can calculate the distance the wheel moves on the encoder. The calculation of how to do this will be discussed in the next steps in this manual. This project measures the curve distance using an encoder. This is an analog sensor that gives a variable voltage as output based on the distance between the object and the sensor.

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