pic: FRC973 Presents Emperor Swerve

[Tom Bottiglieri]

Originally Posted by AdamHeard

We fixed the "weird electrical issues" and got it driving in much more responsive fashion.

If you try to read more than 4 encoders at 4x resolution, the remaining encoders will always repeat a zero value. After hours of debugging, seeing the encoders actually generate pulses, but not increment, we were going crazy. Austin on 254 tipped us off to the issue and we fixed it.

Video was taken, but it was on a tether cable. I promise we'll get good video this coming weekend when we drive with radios.

Ugh, don't get me started on encoders and the cRIO. We used a ton of encoders and it seems every combination you can think of using 4x, 2x, and 1x decoding would break something or other. I guess that's what happens when everything on the FPGA is a black box.

PHP Code:

A_ISR(){
   c += (getB()) ? 1 : -1;
} 


All for 1,000th the price! Le sigh.