Quote:
Originally Posted by Joe Johnson
I have an idea for putting incremental encoders on the motors (quad input, 2 pulses per motor rev.). Using these incremental encoders, I can have something like an Arduino keep track of absolute position. But, that means we have to zero the count at some point. Okay fine. We do that in the pits when we are always calm, cool and collected (kidding). But we often have to cycle power on the field. Not only that but we often have to move the arm or finger or whatever while the robot is powered off. There goes the zero point for the CPU that is keeping track of the position.
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Why not use the flash memory in the cRIO periodically save the position? The preferences class in C++/Java would be great for this. You'd have to choose when to save the data carefully, to avoid hitting the flash memory 100,000 write cycles. It could be as simple as press this button then power off the cRIO, or as complicated as saving it each time it stops moving.