[vamfun]

Just now seeing the same problem when running x1 with the kit encoders.

GetDistance() gives the correct value but the GetRate() gives double rate.

Anybody using this function with success?

We have all the latest updates in SW.

Update:

I decided to check the GetPeriod() in Encoder.cpp. I don't see any problem with the LyraS question but something else seems strange to me here and maybe someone can tell me why its correct.

double Encoder::GetPeriod()
{
if (m_counter)
{
return m_counter->GetPeriod() * DecodingScaleFactor(); //****THIS IS WHERE I SEE A PROBLEM ***
}
else
{
tEncoder::tTimerOutput output = m_encoder->readTimerOutput(&status);
double value;
if (output.Stalled)
{
// Return infinity
double zero = 0.0;
value = 1.0 / zero;
}
else
{
value = (double)output.Period / (double)output.Count;
}
wpi_assertCleanStatus(status);
return value * 1.0e-6 / (DecodingScaleFactor() * 4.0);
}
}


In the 1x and 2x the counters are used. The period that the counters return should be for the actual pulses not the spec pulse frame. Hence, the periods should be shorter when running 2x. So when

if (m_counter)
{
return m_counter->GetPeriod() * DecodingScaleFactor(); //****THIS IS WHERE I SEE A PROBLEM ***
}

occurs, it should correct the counter period to the spec period which would be longer. This statement makes the period the same or shorter since DecodingScaleFactor() returns 1 for 1x , .5 for 2x.

It seems that this should read

if (m_counter)
{
return m_counter->GetPeriod() / DecodingScaleFactor(); //****USE DIVISION TO CORRECT PERIOD ***
}

The division by DecodingScaleFactor() would then be similar to that used in the 4x return value.
If my reasoning is correct, then the 2x should be off by a factor of 4 but the 1x should be ok. So unfortunately this doesn't explain why we still are double the rate when running at 1x and maybe when I get some time, I'll check this hypothesis. Where is Joe Hershberger when we need him?