single lline encoder on Jags

[mikets]

Originally Posted by Ether

Did you connect both channels? Or just one (the OP's question).

I am not sure I understand your question. Are you asking if we connected both A and B? If so, yes.

Originally Posted by Ether

Am I understanding correctly: You connected the encoder to the Jag, then using CAN you read the speed from the Jag, then used that speed as the feedback to a PID on cRIO, then used the cRIO's PID output to command the Jag?

Yes, that's correct. We call the Jag to read the speed and use that as the Input to our PID controller on the cRIO. By doing so, we can change the PID algorithm to give us a stable speed control.