Legal Encoders

[theawesome1730]

Originally Posted by frcguy

http://www.vexrobotics.com/vexpro/al.../217-5046.html

Here is the link for the VersaPlanatary Integrated Encoder. As Knufire said, it is a SRX Mag Encoder from CTRE in a case that goes in your VersaPlanatary setup. It's quite a nice form factor if you can spare the extra length of the gearbox.

If using this on the arm, use the encoder stage between your last planetary stage and your output shaft so you get your encoder counts with per shaft revolution rather than needing a ratio of counts to revolutions. For example if the encoder outputs 1024 counts per revolution, you would have 1024 counts per single revolution of the output shaft, if you have a 4:1 reduction stage between your encoder and output shaft, you would have 4096 counts per revolution of the output shaft. In an application of this sort, error in the gearbox is multiplied the through the reductions, so it is advised to use the encoder as close to the output as you can. The encoder is both absolute and quadrature so you won't need a second sensor for homing purposes.