Quote:
Originally Posted by Caleb Sykes
Does anyone actually do this in FRC? I had played around with the idea of constantly checking both encoders, and if one is consistently outputting zero (possibly indicative of faulty wiring), switch to the other one. Are there any other common failure modes that we could look for?
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We have encoders and potentiometers on all of our joints, both for zeroing and fault detection. Last year we correctly e-stopped our elevators when one of the encoders got unplugged. Not the drivetrain, but still a use of redundancy.