Chief Delphi - [FTC]: FTC Encoder Program with Distance

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- - [FTC]: FTC Encoder Program with Distance (http://www.chiefdelphi.com/forums/showthread.php?t=131646)

[FTC]: FTC Encoder Program with Distance

Hello,

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

Code:

#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

Re: [FTC]: FTC Encoder Program with Distance

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.

Re: [FTC]: FTC Encoder Program with Distance

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

Re: [FTC]: FTC Encoder Program with Distance

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.