Quote:
Originally Posted by ekapalka
I'm not sure if this is true or not, but I've been told that a good thing to use for swerve drives are ten-turn potentiometers. The benefit being that you can easily plug it into the following
Code:
angle=(potentiometer_voltage-inherent_zero)*voltage_to_degrees
to get to the angle, whereas with other potentiometers you need to account for some sort of wraparound |
If you are using the WPILib PIDController, it's as simple as setting the PIDController to continuous when using a continuous rotation encoder/potentiometer.
You have to keep up with turns and unwind if you get close to the limit on a 10 turn pot.