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Unread 19-01-2016, 20:44
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Unhappy amt10 odd behavior

we're trying to use the amt10 quadrature encoder on our drivetrain in distance mode. specifically we attach it to the gear box. the problem i'm having is that when the gearbox starts to rotate, the distance jumps a large value and then seems to track correctly. for example, we have the dip switches set to 200 and the encoder type to kx1. when i turn the encoder just slightly to a positive distance, the distance out of the FPGA jumps to 90, then tracks. if i turn the encoder in the negative direction, the distance instantly jumps to positive ~60, then tracks down eventually going negative. i've tried 2 different encoders on two different roborio's with nearly identical behavior. we're programming in java. this happens in both the 2015 and 2016 libraries.
has anyone had this behavior? is there a fix?
obviously this makes the encoders useless for autonomous mode....

any help would be appreciated.

bill
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