[nitneylion452]

Originally Posted by mikets

The encoders in the KOP have 4 wires. +5, GND, A and B. You can connect the encoders either to the Jaguars directly (if you are using the Jaguars as your motor controllers) or to the digital input channels on the digital sidecar.

For connecting to the Jaguar, crimp a 5-pin header connector with the 4 wires ("+" goes to +5, "-" goes to GND, "A" goes to A and "B" goes to B, "I" has no connection).

If connecting to the cRIO, each encoder needs two digital channels. On the first digital channel, "+" goes to +5 (red), "Gnd" goes to "GND" (black) and "A" goes to signal (white). For the second digital channel, "B" goes to signal (white).

Is there any advantage to wiring the encoders one way over the other? I only ask because we used encoders last year and had no idea they could go to the jags.