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Originally Posted by Joe Ross
Can you expand on those disadvantages?
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The most painful one in my memory is dealing (in software) with the rollover of the pot at low rotational speeds. Rather than a nice transition from, say 0V to 5V (corresponding to an ideal sawtooth waveform), in practice the signal becomes pretty indeterminate during the transition -- even with high quality, full-360-degree-wiper pots. At "high" rotational speeds only one or two samples might land during this time, but at low speeds the number of samples taken in this nebulous state kills the effectiveness of the various forms of software filtering and other algorithms we tried. This was back in 2008, but it's not an issue that would be specific to any particular FRC control system. Our lesson-learned was to use encoders (of various flavors and forms) in applications where this could potentially be a problem.
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The loss of support for the Cypress I/O was mentioned in pretty much every presentation I saw from Beta Test teams.
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Rats, I didn't pick up on it. Looks like there is an issue with the Forums page at the moment so I can't even go looking to see where I went wrong. I did talk to several Beta teams at various off-season events but the topic didn't come up.