Wheel encoder PID

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hello all,

i working on robot needs both wheels drive straight , @ same speed. have  encoders on of each of 2 motors. have been online looking me understand how it, came empty handed, or missed point due lack of arduino knowledge.
anyhow. have code play around with?
thanks

first need learn how read encoders , calculate wheel rotational velocity , distance traveled. 1 place start here http://playground.arduino.cc/main/rotaryencoders google find many more.


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