Thread: Speed Encoders or Gyros?
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Unread 25-01-2016, 18:08
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AKA: Scott Libert
FRC #2465 (Kauaibots)
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Re: Speed Encoders or Gyros?
Quote:
Originally Posted by akavoor13 View Post
Thanks, guys! I am using Java, by the way. If you can tell me where to look for sample code, that would be great!
It'd help the community to help you if you could indicate what kind of drive system you are using (arcade, omniwheel, mecnaum), how many motors you are using, etc.

As noted in my previous post, you will likely need to understand the "kinematics equation" and the "inverse kinematics equation" for your drive system if you want to use the encoders to track position. These equations are different for each type of drive system, and can take into account your wheel diameter and the distance between your two front wheels and your back and front wheels.

I also highly recommend doing some experimentation on your own (by displaying the values from the encoders on all your wheels on the drive station dashboard). This will help you get a conceptual "feel" for the encoder data and how it relates to the motion of your robot.