Chief Delphi - [FTC]: DC MotorEncoder Code

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- - [FTC]: DC MotorEncoder Code (http://www.chiefdelphi.com/forums/showthread.php?t=90759)

JohnFogarty

02-02-2011 11:34

[FTC]: DC MotorEncoder Code

So in the instance of having servos, those servos have set positions you can send them to. What I want to do is tell a motor to go to specific encoder positions in robotC. I haven't the slightest clue how to begin doing that. My goal is to push a button and have an arm powered by a motor go to a certain position and stop or keep a low level of power to keep it locked in that position until the button isn't pressed.
Thank You.
John Fogarty

normalmutant

02-02-2011 19:15

Re: [FTC]: DC MotorEncoder Code

Here's one way to do it:
Have the motor move back until it hits a touch sensor. Set the input from the encoder as the zero position (store it in a variable) and move the motor forward to the encoder position you want, plus the zero value.
We did this to align a dispenser tread on our old robot. If it doesn't rotate all the way around, you may not have to do this.

normalmutant

02-02-2011 21:43

Re: [FTC]: DC MotorEncoder Code

Oh, actually, you could just reset the encoder using the software when it hits the touch sensor. Sorry, I'm a hardware guy. I was unsure about my last post, so I read our team's own tutorial on using them. :p
http://say-watt.org/wp2/archives/391

Tim Delles

04-02-2011 02:42

Re: [FTC]: DC MotorEncoder Code

Code:

nMotorEncoder[motorA] = 0;

wait1Msec(50);

nMotorEncoderTarget[motorA] = x;    <- set this to the number of rotations the Motor Encoder needs to rotate

motor[motorA] = 100;

while ((nMotorRunState[leftMotor] != runStateIdle))

  {

    EndTimeSlice();

  }

  return;

This can only be used if you have a shaft encoder attached to the motor you want to use. Good luck.

clwillingham

04-02-2011 14:54

Re: [FTC]: DC MotorEncoder Code

another way thats a bit more direct but probably a little bit less reliable in terms of skidding:

Code:

motor[FL] = power;

motor[FR] = power;

motor[BL] = power;

motor[BR] = power;

while(nMotorEncoder[FL] < units){}

Stop(); // we wrote this function to set every motor to 0.

please note that this code is for a four wheel drive robot.

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