Dual encoders

[Ether]

Originally Posted by Caleb Sykes

we are basically getting slightly more precision in exchange for a doubled failure rate.

If you play your cards right, you can use the redundancy to reduce the effect of an encoder failure.

[Caleb Sykes]

Originally Posted by Ether

If you play your cards right, you can use the redundancy to reduce the effect of an encoder failure.

Does anyone actually do this in FRC? I had played around with the idea of constantly checking both encoders, and if one is consistently outputting zero (possibly indicative of faulty wiring), switch to the other one. Are there any other common failure modes that we could look for?

[Travis Schuh]

Originally Posted by Caleb Sykes

Does anyone actually do this in FRC? I had played around with the idea of constantly checking both encoders, and if one is consistently outputting zero (possibly indicative of faulty wiring), switch to the other one. Are there any other common failure modes that we could look for?

We have encoders and potentiometers on all of our joints, both for zeroing and fault detection. Last year we correctly e-stopped our elevators when one of the encoders got unplugged. Not the drivetrain, but still a use of redundancy.