[FTC]: FTC Encoder Program with Distance

[FRC Team CC]

Hello,

We are trying to program our Autonomous portion using distance with
TETRIX DC Motor encoders. The following is our program:

#pragma config(Hubs, S1, HTMotor, HTMotor, HTServo, HTMotor)
#pragma config(Motor, mtr_S1_C1_2, leftBottomDrive, tmotorTetrix, openLoop, encoder)
#pragma config(Motor, mtr_S1_C4_1, rightBottomDrive, tmotorTetrix, openLoop, reversed, encoder)

//*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//

task main()
{
float diameterOfWheel = 3.96;//set the diameter of wheel to 3.96 inches
float circumfirence = diameterOfWheel*PI;

int distanceToGo = 12;//we want the robot to go one foot, or 12 inches
float rotations = distanceToGo/circumfirence;
int degreesToTurn = rotations*360;
int encoderCounts = degreesToTurn*4;//encoder counts are in quarter degrees, so 4 encoder counts = 1 degree

nMotorEncoder[leftBottomDrive] = 0;//motors do not run
nMotorEncoder[rightBottomDrive] = 0;

nMotorEncoderTarget[leftBottomDrive] = encoderCounts;//tell motors to go a foot
nMotorEncoderTarget[rightBottomDrive] = encoderCounts;
motor[leftBottomDrive] = 50;//go at power 50
motor[rightBottomDrive] = 50;

while(nMotorRunState[leftBottomDrive] != runStateIdle)
{

}
motor[leftBottomDrive] = 0;//turn motors off
motor[rightBottomDrive] = 0;
}

When testing the program, the motors drove unlimited instead of stopping after one foot.

Regards,

The Charging Champions

[Sasha]

In pragma, change
#pragma config(Motor, mtr_S1_C1_2, leftBottomDrive, tmotorTetrix, openLoop, encoder)
to
#pragma config(Motor, mtr_S1_C1_2, leftBottomDrive, tmotorTetrix, PIDControl, encoder)

(or just check the box "PID control" in Motor and sensor setup). Obviously, you need to do this for both motors.

[FRC Team CC]

Sorry, we forgot to mention that we tried this. It worked on the right wheel, but on the left wheel, it was jerking around and did not move as smoothly.

Is this a building error or a wiring error?

Thanks,
Charging Champions
FTC Team 8660

[Sasha]

I'd guess a building error, but can't say without seeing the robot. Or maybe the encoder cable is damaged? if these are Tetrix motors, the encoder cable is very fragile.