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Unread 24-01-2017, 09:05
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Programming/Controls Mentor
AKA: Joe Kelly
FRC #0997 (Spartan Robotics) and FRC #2990 (Hotwire Robotics)
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Join Date: Jan 2013
Rookie Year: 2010
Location: Corvallis, OR
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Re: Minimum Flywheel Encoder CPR

Quote:
Originally Posted by Kevin Sevcik View Post
Note that if you're planning on using the Talon SRX to run your control loop, it has a fixed definition of quadrature counts per 100ms as the velocity definition. And it actually runs the control loop at 1kHz. I'm not entirely certain how they bridge that gap, though.
We're using the Armabot RS7 encoder (advertised "12 CPR") with the Talon SRX. In our Java code, we called the method "talon.setEncoderCodesPerRev" to be 1/4th of the CPR (so....3 ) in order for the velocity to be true (we tested with a tachometer. After you set that number, you can use "talon.set(rpm)" to have the motor run at that RPM without any other math.
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2013 and 2014 - Student (FRC#2990), Programmer (LabVIEW)
2015 and 2016 - Mentor (FRC#2990), Programming (LabVIEW)
2017-Current - Mentor (FRC#997), Controls/Programming (Java)
2015-Current - A/V Volunteer at Oregon events
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