Mecanum Drive with Encoders?

[ShadowWing]

Hi, our team is using mecanum wheels on our robot, however, we're not using RobotDrive for the 4 mecanum wheels. Instead, each wheel is hooked up to its own jaguar and we are using each jaguar independently.

With that in mind, could someone help me understand how to code encoders using this set up?

[Ether]

Hi, our team is using mecanum wheels on our robot, however, we're not using RobotDrive for the 4 mecanum wheels. Instead, each wheel is hooked up to its own jaguar and we are using each jaguar independently.

With that in mind, could someone help me understand how to code encoders using this set up?

Are you using CAN or PWM to control the Jags?

If you're using CAN, you can plug the encoders directly into the Jags. Jags have built-in firmware to decode the encoder signal and do closed-loop speed, position, voltage, or currrent control.

[ShadowWing]

We're using PWM

[Ether]

We're using PWM

Then you'll have to connect each encoder to the DSC. WPILib file "Encoder.java" has classes for handling encoders.