Download WC-132 WheelCommander WheelCommander Wizard User`s Manual

Step 9: Calibrate Motors
The WheelCommander includes a built-in routine for testing and configuring the motors.
The steps it performs are:
1.
For servos only, finds the zero position for each servo (the pulse width that
results in no motion)
2.
Measures maximum velocity of each motor
3.
Determines direction of rotation of each motor with respect to the encoders;
some servos rotate in the opposite direction compared to others, so this
important step corrects this
4.
Finds the output value (servo control pulse width or motor PWM value)
corresponding to 10% of maximum speed and 80% of maximum speed
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