FRC971 Spartan Robotics 2016 Release Video

[AdamHeard]

Originally Posted by MichaelBick

Whats the purpose of have two different encoders in this gearbox:

The one on the left is a potentiometer (and do to limited # of turns has to be near the output).

The one on the right is an encoder. I know 971 goes out of their way to eliminate backlash as much as possible (like custom sized hex shafts), so putting it earlier in the reduction yields higher resolution (traded off against backlash, which in this case is minimized).