Encoders With Motor Speeds

[2386programming]

Hello, my team is programming the drive train for this years robot and all the gear boxes move at different speeds. We are trying to figure out a way to get a value from the encoders for inches per second per say, and then send readings to our talons making all the wheels spin at the same speed.

[notmattlythgoe]

Hello, my team is programming the drive train for this years robot and all the gear boxes move at different speeds. We are trying to figure out a way to get a value from the encoders for inches per second per say, and then send readings to our talons making all the wheels spin at the same speed.

Are you using the new Talons or the older ones?

[2386programming]

We're using the old ones.

[notmattlythgoe]

We're using the old ones.

What programming structure are you using? Iterative, Sample, or Command?

[2386programming]

We're using an iterative structure

[notmattlythgoe]

We're using an iterative structure

What you'll want to do is look at the Encoder (http://first.wpi.edu/FRC/roborio/release/docs/java/classedu_1_1wpi_1_1first_1_1wpilibj_1_1Encoder.htm l) class and make sure to configure the distancePerPulse. Then you will pass that encoder into a PIDController (http://first.wpi.edu/FRC/roborio/release/docs/java/classedu_1_1wpi_1_1first_1_1wpilibj_1_1PIDControll er.html) along with the motor you want to control with it.


PIDController leftFrontWheel = new PIDController(p, i, d, leftFrontEncoder, leftFrontTalon);

[2386programming]

Great thank you! Is there any way that you could help and explain how a PID controller actually works in layman's terms?

[Ether]

Great thank you! Is there any way that you could help and explain how a PID controller actually works in layman's terms?

Watch this video (https://www.youtube.com/watch?v=UOuRx9Ujsog&list=PL8BLGj0RyhMzNXX9gHBosWPRbqqn0gJUQ&index=2).