Encoder getRate question

[Ether]

Originally Posted by AsianRookie

shooterEncoder = new Encoder(RobotMap.SHOOTER_ENCODER_A, RobotMap.SHOOTER_ENCODER_B, true, CounterBase.EncodingType.k4X);
shooterEncoder.setDistancePerPulse(4/360);//4:1 gear ratio

You do not want to use getRate() with a 360 CPR encoder with 4X decoding at shooter wheel speeds.

See the first attachment


Do this instead:

1) Connect only Channel A of the encoder to the DSC, and use an up/down counter (from the Counter class) set to count up only. Leave Channel B disconnected.

2) Set the FPGA sampling ring buffer size to 120.

3) Use the counter class's getPeriod() to get the period, then calculate rpm = 60/(360*period)

See the second attachment.