Last minute autonomous help

[alexhenning]

Originally Posted by davidthefat

I personally would disagree with you on that: because our robot is driven by chain, there are a lot of noise in the encoders from the chain jerking around. I suggest one day just put the robot on blocks and let the motor run through from 0 to 255 PWM and graph the encoder data vs the PWM. You will be surprised at the noise.

My team used encoders and we have a reliable autonomous even though our robot has chain. The noise is minimal, I haven't graphed it, but after ~30 successful runs, I wouldn't worry about it unless your chain is really lose or otherwise acting up.

The other thing about encoders is that with some math, you can convert it to feet. You know how far back you start, so drive N feet forward and then place the piece. All the fiddling is with the arm then.