Quote:
Originally Posted by asid61
I feel like for most teams in most situations the minor time lag associated with shifting shouldn't affect them significantly.
I prefer having the encoders on the gearbox, as they're more protected that way. We occasionally (around once per year) lose encoders due to insufficient protection/some small mistake that destroys the already-vulnerable encoders.
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The more I think about it, the less I think you'd need to measure encoder values *during* shifting. We usually use encoders for auto, and it's not likely that we would shift during auto. Even if we had some sort of fancy always-on gyro compensation, we could probably disable it for a second during the shift.
Thanks for sharing!