These two functions are used to read the speed of the motor in encoder counts, there is one function for each channel. The only argument to these functions is the address of the RoboClaw. In this example “ReadSpeedM1” is called on the RoboClaw object to read the speed of motor 1 in encoder counts.

To calculate the RPM (Revolutions Per Minute) of an optical encoder, we only need to measure one of the incremental channels using an oscilloscope. We will need to find the frequency of the incremental signal from the oscilloscope measurement.

First, determine the current. Calculate the current delivered to the engine. Next, determine the voltage. Calculate the voltage delivered to the motor. Next, determine the efficiency. Measure the percentage of energy that goes to usable torque. Next, determine the RPM. Measure the rotations per minute of the motor. Finally, calculate the torque.

Electric motor torque is the total torque generated by an electric motor given a current, voltage, efficiency, and RPM. How to calculate an electric motor torque? First, determine the current. Calculate the current delivered to the engine. Next, determine the voltage. Calculate the voltage delivered to the motor. Next, determine the efficiency.