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Averaging one side with Encoders or two wheeled drive?
So I was talking with the programmers, and being that we were doing six wheeled drive with 4 CIMS using 2 Victors, we figured we'd need 4 encoders. Now, my question is what would be the better approach?
1. One encoder on each shaft with only one channel wired. Then I'll direct the Encoder class towards the two Encoders on the same side and two for the other side.
2. Power only 2 motors for PID and have two fully wired Encoders on those shafts.
EDIT
This is for autonomous PID drive
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