Linearity Tests (PDF)
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Linearity Tests - Turning Motor
Voltage (V)
Angular Velocity (degrees / sec)
12
980
11
900
10
800
9
730
8
630
7
550
6
460
5
380
4
290
3
200
2
120
1.7
90
1.6
0
1.5
0
1
0
0.8
0
0.6
0
0.5
0
0
0
Function (Positive, y = mx + b)
Function (Negative, y = mx + b)
-0.5
0
m
m
-0.6
0
-0.8
0
-1
0
-1.5
0
-1.6
-80
-1.7
-90
-2
-120
-3
-200
-4
-280
-5
-380
b
86.41243961
-55.88824977
R^2
b
86.13576339
R^2
0.9997655126
0.999850894
Function (Average, y = mx + b)
m
Dead Zone: ±1.6V
b
86.2741015
-56.27880951
56.66936925
Linearity Tests - Turning Motor
-6
-460
-7
-550
-8
-630
-9
-720
-10
-800
-11
-890
-12
-980
Linearity Tests - Turning Motor Controller (Beaglebone Motor Shield)
Signal
Voltage Out (V)
10000
-11.92
9000
-11.9
8000
-11.61
7000
-11.07
6000
-10.43
5000
-9.76
4000
-9.08
3000
-8.4
2000
-7.7
1000
-7
500
-6.62
250
-6.383
100
-5.787
1
-3.453
0
0
-1
3.35
-100
5.688
-250
6.275
-500
6.512
-1000
6.9
-2000
7.62
-3000
8.32
-4000
9.02
-5000
9.72
Function (Negative, y = mx + b)
-6000
10.4
m
-7000
11.04
-8000
11.6
-9000
11.9
-10000
11.92
Function (Positive, y = mx + b)
m
b
-0.0006326009672
R^2
-6.333018152
b
-0.0006442924491
0.9775590416
R^2
6.225482055
0.9781499757
Linearity Tests - Turning Motor Controller (Beaglebone Motor Shield)
Data without deadzone
Signal
Voltage Out (V)
10000
-11.92
9000
-11.9
8000
-11.61
7000
-11.07
6000
-10.43
5000
-9.76
4000
-9.08
3000
-8.4
2000
-7.7
1000
-7
500
-6.62
250
-6.383
100
-5.787
-100
5.688
-250
6.275
-500
6.512
-1000
6.9
-2000
7.62
-3000
8.32
-4000
9.02
-5000
9.72
-6000
10.4
-7000
11.04
-8000
11.6
-9000
11.9
Linearity Tests - Turning Motor Controller (Beaglebone Motor Shield)
-10000
11.92
Linearity Tests - Composite: Turning Motor w/ Controller
Name
m
b
Signal
Angular Velocity (degree / s)
Turning MC (Positive)
-0.0006326009
-6.333018152
10000
-1149.785727
Turning MC (Negative)
-0.0006442924
6.225482055
9500
-1122.453431
Turning Motor (Positive)
86.41243961
-55.88824977
9000
-1095.121134
Turning Motor (Negative)
86.13576339
56.66936925
8500
-1067.788838
8000
-1040.456541
Composite (Positive)
-0.0544895672
-488.8299839
7500
-1013.124245
Composite (Negative)
-0.0556748823
482.0708424
7000
-985.7919486
6500
-958.4596521
6000
-931.1273557
5500
-903.7950592
5000
-876.4627628
4500
-849.1304664
4000
-821.7981699
3500
-794.4658735
3000
-767.133577
2500
-739.8012806
2000
-712.4689842
1500
-685.1366877
1000
-657.8043913
500
-630.4720948
0
0
-500
509.9082836
-1000
537.7457248
-1500
565.5831659
-2000
593.4206071
-2500
621.2580483
-3000
649.0954895
-3500
676.9329306
-4000
704.7703718
motor(MC(signal))
Linearity Tests - Composite: Turning Motor w/ Controller
-4500
732.607813
-5000
760.4452542
-5500
788.2826953
-6000
816.1201365
-6500
843.9575777
-7000
871.7950189
-7500
899.63246
-8000
927.4699012
-8500
955.3073424
-9000
983.1447836
-9500
1010.982225
-10000
1038.819666
Linearity Tests - MagnePot
Teeth (Measured) Angle (Degrees Voltage Out (V)
0
0
0.204
3
15
0.37
6
30
0.577
9
45
0.781
12
60
0.98
15
75
1.177
18
90
1.383
21
105
1.576
24
120
1.783
27
135
1.99
30
150
2.168
33
165
2.351
36
180
2.562
39
195
2.753
42
210
2.945
45
225
3.152
48
240
3.349
51
255
3.547
54
270
3.747
57
285
3.936
Function (y = mx + b)
60
300
4.145
m (V/deg)
63
315
4.343
66
330
4.528
69
345
4.741
72
360
4.963
b (V)
0.01318641026 0.1884861538
R^2
0.9999472909
Linearity Tests - Voltage Divider
Voltage In (V)
Voltage Out (V)
0
0
0.4
0.144
0.8
0.286
1.2
0.429
1.6
0.572
2
0.714
2.4
0.855
2.8
0.998
3.2
1.142
3.6
1.284
4
1.427
4.4
1.571
4.8
1.713
5.2
1.855
5.6
1.998
6
2.141
Theory (V/V)
0.3571428571
Error (%)
0.1254411765
Function (y = mx + b)
m (V/V)
b (V)
0.3566948529
0.0004779411765
R^2
0.9999988915
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