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Unread 03-10-2011, 09:26
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AKA: Andrew Palardy (Most people call me Palardy)
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Re: pic: FRC973 Presents Emperor Swerve

Quote:
Originally Posted by Gdeaver View Post
...The C-rio only has 4 4x encoders. Why not save them for velocity needs?...
You realistically don't need 4x decoding on an encoder used for velocity. The cRio has 4 Encoder modules for 4x decoding, but it also has 8 Counter modules for 1x or 2x encoding (yes, the counter modules have direction through the B phase).

We ran our encoders at 1x for the entire season, doing full teleop speed control, without resolution issues (we did, however, find a bug in the FPGA code which calculates rate, and used the workaround of not using those encoder modules). We used 250 count AM encoders to 6" wheels (direct).

Although I do agree that, in general, absolute sensors are better for absolute positioning (such as a crab pod, elevator, arm, etc.)
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