Mecanum Encoders

[Ether]

Originally Posted by Nunez4296

Could someone please explain how to utilize the encoders in our code to set the outputs of our motors?

If your encoders are connected to roboRIO:

You take the 4 outputs of the mecanum inverse kinematic computation (the desired wheel speed outputs) and you use those as the setpoint input to 4 corresponding closed-loop controllers (most teams use PID).

You use the encoder speed signals (suitably scaled) as the process_variable input to the corresponding closed-loop controllers.

You use the output from the 4 closed-loop controllers to command the 4 corresponding motor controllers.

OR...

If you are using TalonSRX motor controllers with CAN bus, and your encoders are connected directly to the Talons:

You setup the Talons for speed_control mode and send the desired wheel speeds (suitably scaled from the mec inverse kinematic computation) to the Talons.