Encoder Problem
 

I am using four grayhill encoders for our robot that uses a mecanum drive system. I am using the frc_encoder code from kevin watson. When I download the code unmodified it works just fine and all the encoders give me a reading. When I copy and paste the mecanum drive code into the encoder code only one of the encoders gives me a reading. Any help is much appreciated.

Re: Encoder Problem
 

Can you post the code that doesn't work?

Re: Encoder Problem
 

Attached to this message is the user routines file that doesn't work.

Re: Encoder Problem
 

At a quick glance I dont see anything wrong. To confirm, your sayng when you comment out/dont run Default_Routine() that all 4 encoders work but when you run it only 1 does?

Re: Encoder Problem
 

The "\r\n" part of your printf commands bothers me. Aren't we supposed to use just "\r" and not "\n"?

How does this code differ from what does work?

Re: Encoder Problem
 

It's a carriage return and a line feed. He's constructed it like a Windows text file, which would normally use that escape sequence to mark a new line.

Re: Encoder Problem
 

I have tried commenting out the calll to default routine but it still only will read one encoder. The only difference between my code and the frc_encoder code ist that I have added some mecanum drive code for our robot.

Re: Encoder Problem
 

Could you please post both copies of your code for us to look at.

Re: Encoder Problem
 

Did you add code any where else besides user_routines?

Re: Encoder Problem
 

The new user routines is the one from my earlier post and the old user routines is attached to this message and the only thing i edited between the two codes is the addition of the mecanum drive code.

Re: Encoder Problem
 

Have you tried putting in the frc_encoders code again to see if all the encoders still work?

Re: Encoder Problem
 

When I download the frc_encoders the encoders work great but when I add the mecanum drive code only one encoder will feed back values.

Re: Encoder Problem
 

Try running the 2 through a diff tool to see the difrences in the 2 files. I didnt see anything when I did a quick look, ill check again when I have more time.

Re: Encoder Problem
 

Where would I get a diff tool. I've never even heard of such a thing.

Re: Encoder Problem
 

Not so:

From code that works:
/* SECOND: Set up the I/O pins you want to use as digital OUTPUTS. */
digital_io_17 = OUTPUT; /* Example - Not used in Default Code. */

/* THIRD: Initialize the values on the digital outputs. */
rc_dig_out17 = 0;


From modified code:
/* SECOND: Set up the I/O pins you want to use as digital OUTPUTS. */
digital_io_17 = INPUT; /* Example - Not used in Default Code. */

Re: Encoder Problem
 

My mistake. Thanks for pointing that out but would that make a difference for the encoders.

Re: Encoder Problem
 

If you don't recall changing that, then maybe there's others. Obviously, something's different = one works, one dosen't.

How about the fact that you're getting the encoder count for #s 1..4 in one chunk of code, and for #s 1..6 in the other. Is encoder.h set up to use six(6) encoders?

PS: The call to Default_Routine() is commented out in both sets of code, so don't expect any changes there to show up once you get encoders working.

Re: Encoder Problem
 

I have tried it both ways. I have tried it with all six encoders enabled and I have tried it with 4 enabled. Other than that there are no changes between the encoder.h files. About the default routine I have tried commented and uncommented but it still will only read one encoder.

Re: Encoder Problem
 

It could be that your interrupt handlers are set up wrong in user_routines_fast.c. Have you checked those?
You should be able to drop the user_routines_fast.c from Kevin's code into your project, unless you are using custom timers, or have already written up some autonomous routine.

At the very least, check to see if InterruptHandlerLow is set up the same in both sets of code.

Hope this helps.

Re: Encoder Problem
 

Grab a copy of WinMerge and check out your 2 files.

http://winmerge.org/

Re: Encoder Problem
 

I've had good luck with winmerge, which is an open source tool for comparing folders and files. I think that such a tool would help with your current problem.

Re: Encoder Problem
 

I am using the exact user routines fast from kevin watsons frc_encoder code.

Re: Encoder Problem
 

Thanks for all of your help. I have finally fixed the problem. I swear that I did not edit the encoder.h file but when I overwrote the old one with one that I got directly from kevin watsons website it fixed the problem.