Thread: How many encoders are needed to control an H/slide drive?
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Unread 07-01-2015, 13:45
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Re: How many encoders are needed to control an H/slide drive?
5 encoders certainly aren't NEEDED. 4 on the main drive will allow programmers to be able to speed match the 4 wheel, which will allow the best possible "drive straight" functionality in autonomous. You can get away with 2, but you won't be able to guarantee all 4 main drive motors are turning at the same rate then.

The 5th motor encoder would only be needed if you planned to do any strafing in autonomous.