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Originally Posted by sur2124
I was talking in general, we needed the shaft encoder to find the distance to a point in autonomus mode. We used the Gyro to find direction, y-accelemoter to find tilt angle, and tried to use the shaft encoder to find distance to a point on the field.
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That should be pretty easy then. All you need to do is find out how many encoder ticks you get per revolution of the wheel. With that information, you can convert that to ticks per inch. From there you should be able to determine how many ticks you need to go a certain distance.
Edit: This is similar to what Uberbots posted. Should have read more carefully