Re: Encoder as PIDSource
 

So I added this in my constructor:

elevatorEncoder->SetPIDSourceParameter(Encoder::kDistance);

Is that correct? We want to test our robot today and see how it performs and I can't afford to introduce code problems outside of my experience level and lose a day of tweaking on our new hardware. (Today is hopefully first test day of our finalish robot)

I am not going to update the robot's image until I know this will work. We have a working set of code with the previous posts and I'll be using an un-updated computer to tweak our code while testing our robot today.

I am somewhat worried because when I was calling Encoder->, the SetPIDSourceParameter did not show up under the little menu of methods I could select. Also none of the colors changed when I entered the above line. Do I have to do a fresh build or something for the built in Windriver "IntelliSense" to catch up?

Re: Encoder as PIDSource
 

Looks OK to me. I'm not sure exactly what it takes to update the intellisense. Perhaps you have to refresh the project or reopen workbench or something.

-Joe

Re: Encoder as PIDSource
 

All right, just to post our results, we got the new update on our robot, and the new Encoder class works a champ now. The code I posted earlier does work as posted if anyone else is looking for examples.

The "Intellisense" will update if you close and re-open Windriver. Good day today.

Re: Encoder as PIDSource
 

It is nice that the Encoder class can be used as a PIDSource now but it ends up that it still doesn't help me. I am using one encoder for both position AND speed feedback. Not a problem tho i just create two classes, RatePIDSource and PositionPIDSource. I pass a reference to a single Encoder into the constructor of these two objects and in their PIDGet() return distance or rate accordingly.