[Jon Stratis]

Originally Posted by marshall

So how do we get more encoders on more motors?

I think the key to this is figuring out how to make tuning the PID loops easier. We've been using encoders and potentiometers with PID loops for years, yet it still takes our programming team a ridiculous amount of time to get each one tuned correctly. There just isn't enough time to get them set up correctly most years, and even though we put them on the robot and try to get them working, it seems like we end up commenting them out when we get to competition and have run out of time to get them working.

Plus, the USDigital encoders that we've always used have such small wires... it seems we're always breaking one or more of them!