pic: AM3CIM4U with Grayhill
 

Re: pic: AM3CIM4U with Grayhill
 

is that a 61K Series garyhill by chance?

Re: pic: AM3CIM4U with Grayhill
 

5 pins, so I think it is a 61R.

Re: pic: AM3CIM4U with Grayhill
 

Can I ask why you're using the 61R vs the 63R?

We've been using the 63R256 on machines back to 2010, we've just kept ordering the same parts, I wasn't aware there were other models similar to the 63R. I took a look at the specs between the two parts, and it seems like the only difference is that the 63R part number has a higher lifetime rating and higher max RPM rating.

61R, 10 Million cycle lifetime, 300 RPM
63R, 300 Million cycle lifetime, 5000 RPM

Price points seem to be the same on octopart

Re: pic: AM3CIM4U with Grayhill
 

I don't know that we are.

Like you, we have been using the same encoders for a few seasons now. All I know for sure right this minute (Sunday evening, no access to team build space at the high school) is what you can see in the picture -- i.e., five pins.

I agree the 63 series specs are better for this application, so IF we were able to get those encoders at the time, then we would have selected them. Sometimes FRC teams have to use what is in stock during build season. :)

Re: pic: AM3CIM4U with Grayhill
 

What kind of drivetrain are you using them on? How will you use that feedback? I understand the needs in swerve but I am less knowledgeable about how to apply them for something like the AM14u.

Re: pic: AM3CIM4U with Grayhill
 

Most teams like to use encoders on their drive trains in general for a few reasons. The largest benefit is for autonomous mode. If you are moving your robot to a desired location using your drive train, it becomes much easier to ensure that it gets to a spot accurately when you can use an encoder versus just a time amount or something like that.

Specifically on the AM14U you can better control how far/how many rotations each side of the drive rotates which makes driving to a desired location much easier to do/program.

-Nick

Re: pic: AM3CIM4U with Grayhill
 

I can't really tell how from the picture, how did you extend the shaft and attach it to the end of the encoder? What parts did you use?

Re: pic: AM3CIM4U with Grayhill
 

Two helical beam shaft couplings from McMaster, and a 3.5" long piece of 1/4" rod.

Re: pic: AM3CIM4U with Grayhill
 

What are the advantages of using these encoders over the ones from AM?

Re: pic: AM3CIM4U with Grayhill
 

why do you use these instead of the ep4's from AM?

Re: pic: AM3CIM4U with Grayhill
 

Checked last night, turns out we are using Series 63 Grayhill encoders after all. We have two sets; one pair of 63R256 and one pair of 63R128. The programmers need to decide which set will go on this year's drivetrain.

We switched to Grayhills because they are more rugged than the EP4. It is nice to be able to drive aggressively and not worry about whether your auto mode will be working for the next match.