Numerical integration of acceleration and speed
I control a differential robot mounted by two motors. I use encoders to detect the movement of the robot. I kinematic equations for the linear and angular speed of the robot using wheel from coders speed reading. Now, my problem is how to make digital integrations for speeds resulted.
I need to know a method to do the numercal integration.
Hello. I guess you're wanting to integrate the speed to track the position of your robot? LabVIEW has Integration & differentiation screw that should do the job. In addition, depending on the configuration of your robot, you can calculate directly measured the count position of the encoder based on the resolution of the encoder and the diameter of the wheel. I hope this helps!
Tags: NI Hardware
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And if I create another partition (D) and just use it for storage, it will make much difference compared to the above?
Planning your Partitions
The Question
Partitions, how much should I have on my hard drive, what do I use
each of them for, and what size should each one be?It s a common question, but unfortunately this doesn t have a
only simple, just answer to all the world. A lot of people will respond with
the way they do, but their response isn't necessarily best for the
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response).Terminology
First, let's rethinking the terminology. Some people ask "should I".
partition my drive? That s the wrong question, because the
the terminology is a little strange. Some people think that the word
"partition" means divide the drive into two or more partitions.
That s not correct: to partition a drive is to create one or several
partitions on it. You must have at least one partition to use
He who think they have an unpartitioned disk actually
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Called C:. The choice you have is to have more than one
partition, not that it's the partition at all.A bit of history
Back before Windows 95 OEM Service Release 2 (also known as Windows
95 (b) was published in 1996, all MS-DOS and Windows hard drives have been set
using the file system FAT16 (except for very tiny to aid
FAT12). That 16-bit only because were used for addressing, FAT16 has a
maximum 2 GB partition size.More than 2 GB of hard disks were rare at the time, but if you had
one, you must have multiple partitions to use all the available
space. But even if your drive was not larger than 2GB, FAT16 created
Another serious problem for many people - the size of the cluster has been
more great if you had a larger partition. Cluster sizes increased from 512
bytes for a partition to no greater than32Mb all the way up to 32 KB for a
partition of 1 GB or more.More the cluster size, the space more is wasted on a hard drive.
That s as space for all the files is allocated in whole clusters
only. If you have 32 KB clusters, a 1 byte file takes 32 KB, a file, a
greater than 32 k byte takes 64 k and so on. On average, each file
about half of his last group waste.If large partitions create a lot of waste (called "soft"). With a 2 GB
FAT16 drive in a single cluster, if you have 10,000 files, each
lose half a cluster of 32 KB, you lose about 160 MB for relationships. This s
back in an important part of a player that probably cost more than $400
1996 - around $ 32.So what did the people? They divided their 2 GB drive in two,
three or more logical drives. Each of these logical drives has been
smaller the real physical disk, had smaller clusters, and
so less waste. If, for example, she was able to keep all the partitions
less than 512 MB, cluster size was only 8 KB, and the loss was reduced to a
a quarter of what it would be otherwise.People partitioned for other reasons also, but back in the days of
FAT16, it was the main reason to do so.The present
Three things have changed radically since 1996:
1. the FAT32 and NTFS file systems came along, allowing a larger
partitions with smaller clusters and so much less waste. In
with NTFS, cluster sizes are 4 K, regardless of the size of the partition.2 hard drives have become much larger, often more than 1 TB (1000 GB) in
size.3 hard drives have become much cheaper. For example, a 500 GB drive
can be bought today for about $50. That s 250 times the size of this
Player 2Gb typical 1996, about one-eighth of the price.What these things mean together which is the reason to be old to have
multiple partitions to avoid the considerable wastage of disk space left.
The amount of waste is much less than it used to be and the cost of
that waste is much less. For all practical purposes, almost nobody does
should no longer be concerned about slack, and it should no longer be
has examined when planning your partition structure.What Partitions are used for today
There are a variety of different ways people put in place several
scores of these days. Some of these uses are reasonable, some are
debatable, some are downright bad. I'll discuss a number of Commons
partition types in the following:1. a partition for Windows only
Most of the people who create such a partition are because they believe
If they never have to reinstall Windows properly, at least they
He won t lose their data and he won t have to reinstall their applications.
because both are safe on other partitions.The first of these thoughts is a false comfort and the second
is downright bad. See the analysis of the types of partition 2 and 4
below to find out why.Also note that over the years, a lot of people who find their windows
partition that has begun to be the right size proves to be too
small. For example, if you have such a partition for Windows and later
upgrade to a newer version of Windows, you may find that your Windows
partition is too small.2. a partition for installed programs
This normally goes hand in hand with the partition type 1, a partition for
just Windows. The thought that if you reinstall Windows, your
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partitions is simply not true. That s because all programs installed
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Windows, in the registry and elsewhere, as well as associated files
buried in the Windows folder. So if Windows, pointers and
the files go with it. Given that the programs need to be reinstalled if Windows
the fact, this reasoning to a separate partition for programs not
work. In fact, there is almost never a good reason to separate
Windows of the software application into separate partitions.3. a partition for the pagefile.
Some people think mistakenly that the pagefile on another
score will improve performance. It is also false; It doesn t
help and often I hurt, performance, because it increases the movement of the head
to get back to the page to another file frequently used
data on the disk. For best performance, the paging file should normally
be on the most widely used score of less used physical player. For
almost everyone with a single physical disk than the same drive s
Windows is on C:.4. a partition for backup for other partitions.
Some people make a separate partition to store backups of their other
or partitions. People who rely on a "backup" are a joke
themselves. It is only very slightly better than no backup at all.
because it leaves you likely to be simultaneously the original losses
and backup for many of the most common dangers: the head crashes and other
types of drive, serious glitches to power failure, near lightning
strikes, virus attack, even stolen computer. In my opinion,.
secure backup must be on a media removable and not stored in the
computer.5. a partition for data files
Above, when I discussed separate Windows on a clean partition,
I pointed out that separate data from Windows is a false comfort if
He of done with the idea that data will be safe if Windows ever
must be reinstalled. I call it a false comfort that's because
I'm afraid many people will rely on this separation, think that their
data are safe there and so do not take measures to
Back it up. In truth the data is not safe there. Having to reinstall
Windows is just one of the dangers to someone a s hard disk and not
probably even one. This kind of "backup" falls into the same
category, as a backup to other partitions partition; It lets you
sensitive to the simultaneous loss of the original and the backup on many of
the most common dangers that affect the entire physical disk, not
just the particular partition. Security comes from a solid backup
diet, not how partition you.However, for some people, it may be a good idea to separate Windows and
programs on the one hand of the data on the other, putting each of the
two types into separate partitions. I think that most people
partitioning scheme must be based on their backup system and backup
plans are generally of two types: whole hard disk imaging
or data only backup. If you back up data, backup is
usually facilitated by the presence of a separate with data only partition;
to save just the score easily, without having to
collect pieces from here and elsewhere. However, for
those who backup by creating an image of the entire disk, there is
usually little, if any, benefit the separation of data in a partition of
its own.Furthermore, in all honesty, I must point out that there are many
very respected people who recommend a separate partition for Windows,
Whatever your backup plan. Their arguments haven t convinced
me, but there are clearly two views different here.6. a partition to image files
Some people like to deal with the images and videos as something separate
other data files and create a separate partition for them. To my
the spirit, an image is simply another type of data and there is no
the advantage in doing so.7. a partition for music files.
The comments above related to the image files also apply to music
files. They are just another type of data and must be dealt with the
just like the other data.8. a partition for a second operating system to dual-boot to.
For those who manage several operating systems (Windows Vista, Windows
XP, Windows 98, Linux, etc.), a separate partition for each operating
system is essential. The problems here are beyond the scope of this
discussion, but simply to note that I have no objection to s
all these partitionsPerformance
Some people have several partitions because they believe that it
somehow improves performance. That s not correct. The effect is
probably low on modern computers with modern hard disks, but if
whatever it is, the opposite is true: more music mean poorer
performance. That's because normally no partition is full and it
so are gaps between them. It takes time for the drive s
read/write heads to cross these gaps. Close all files
are, faster access to them will be.Organization
I think a lot of people overpartition because they use scores as a
organizational structure. They have a keen sense of order and you want to
to separate the apples from the oranges on their readers.Yes, separating the different types of files on partitions is a
technical organization, but then is to separate different types of
files in folders. The difference is that the walls are static and
fixed in size, while the files are dynamic, changing size automatically
as needed to meet your changing needs. This usually done records
a much better way to organize, in my opinion.Certainly, partitions can be resized when necessary, but except with the latter
versions of Windows, which requires a third-party software (the and the
possibility to do so in Windows is primitive compared to the third-party
solutions). These third party software normally costs money and not
any point and how stable it is, affects the entire disk.
with the risk of losing everything. Plan your partitions in
first place and repartitioning, none will be necessary. The need
to repartition usually occurs as a result of overpartitioning in
the first place.What often happens when people organize with partitions instead
records are that they make a miscalculation of how much room they need on each
This partition, and then when they run out of space on the partition
When a file is logically, while having plenty of space
on the other hand, they simply saving the file in the score of "poor".
Paradoxically, therefore, results in this kind of score structure
less organization rather than more.So how should I partition my drive
If you read what came before, my findings will not come as a
surprise:1. If your backup set is the image of the entire disk, have just one
single (usually c partition :));2. If you backups just data, have two partitions one for Windows and
application programs installed (usually c :)), the other for data
(normally D :).)With the exception of multiple operating systems, it is rarely
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