Thread: Encoder problems
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Unread 22-08-2013, 16:12
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Formerly Team 1089 (Mercury)
AKA: Michael Reffler
FRC #5431 (Titan Robotics)
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Re: Encoder problems
There is another option you can consider. I did this with a different team than my own and it worked rather well.

We used the closed loop functions of the Jaguar via CAN. We used E4P's in 4x mode spinning at 5K & 6K RPM connected directly to the Jaguar without an issue. The Jaguar is capable of 1M pulses per second.

The hardest part was tuning the PID values for the JAG.

**They opted to do this because they had Jaguars, & extra E4P's on hand so they didn't require any additional purchases in their tiny budget for this season**
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