Chief Delphi - Encoders Programming

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Re: Encoders Programming

You haven't yet posted how you wired it or taken any pictures, per Ether's request.

Re: Encoders Programming

So I have the two bare red wires to one of the grounds and the other to csn and soldered to the black which is connected to the other ground. I also have the blues connected to channel a and the yellow to channel b and red to 5v. the red and blue are in dio 1 and yellow and black are connected to dio 2.

Re: Encoders Programming

I found another thread related to the magnetic encoders. You might want to look through it if you haven't already: http://www.chiefdelphi.com/forums/sh...d.php?t=111202

Also, here's the non FIRST-specific data sheet for the sensor: http://www.ams.com/eng/content/downl...heet_v1-15.pdf

Unfortunately I can't see the wiring very well from the pictures provided, so I won't be of much help there. It seems the sensor has two modes of output: absolute position, and quadrature output. For you usage, you need to make sure you wire it for quadrature output. Here's the wiring:

Quote:

Originally Posted by Screen Steps Live

To wire the sensor to the FRC Control System, the following connections must be made:

The pin labeled 5V on the sensor should be connected to a 5V (labeled "PWR") pin of the Digital Sidecar Digital I/O bank
The 2 pins labeled GND should be connected to a ground pin (labeled "(-)") on the Digital Sidecar.
The pins A and B should be connected to separate signal pins (labeled "SIG") on the Digital Sidecar.
The pin CSn should be connected to a ground pin on the Digital Sidecar (for a description of the purpose of this pin, see "Incremental Power-up Lock Option" on Page 15 of the datasheet

Source. Attached is a sketch of what (I believe) the wiring should look like.

Re: Encoders Programming

yep thats exactly how it is wired

Re: Encoders Programming

Quote:

Originally Posted by DomenicR (Post 1300083)

Unfortunately I can't see the wiring very well from the pictures provided

^ditto that.

What part number magnet are you using?

Re: Encoders Programming

Here are some other things to consider:

Are both encoders giving you identical output? It might be easier to look at the output using System.out.println() rather than SmartDashboard. The output goes to the console in NetBeans, and from my experience is more useful for debugging.

Are you calling Encoder#start() more than once for the encoders? You should only need to call it once at the beginning of the program, unless you stop counting with Encoder#stop(). I don't know if this would cause the encoder count to reset though.

Have you checked for hardware defects? Ensure that there is nothing wrong with your digital sidecar and cables. As Joe Ross mentioned earlier, the problem you described is often because only one channel of the encoder is being read.

Does your team have any other encoders, such as the US Digital E4P? You could try swapping one out temporarily to see if it behaves any differently. This would help identify it as a hardware or a software issue.

Re: Encoders Programming

You may want to consider setting up a couple of DigitalInputs in code and read/println the two encoder inputs while slowly spinning the shaft by hand: you should be able to see the inputs toggle. That would tell you if it's wiring (or wrong/bad input) or problems setting up the Counter class....

Re: Encoders Programming

Quote:

Originally Posted by TenaciousDrones (Post 1296568)

Hello my name is David and I'm tge lead programmer for FRC Team 4780 and I was wondering if anyone could tell me how to programm the 2013 KOP quadrature encoders.

Hi David. You haven't posted in 10 days. Did you ever get your problem solved? Please tell us about it.

Re: Encoders Programming

I still haven't figured out the encoder resetting problem sadly. I had about 2 months of just thinking about it while I worked on the Safety Animation but the program I came up with inevitably failed. I might just end up going through and yanking everything because the only thing I can think of is it's a wiring problem.