Vex encoders/Interrupts

[buddy.smith]

Originally Posted by JohnC

I remember the Vex encoders not being quad-output, so you can't have the "phase A plugged into dig-01 and phase B plugged into dig-02" problem. Hm.

Just out of curiosity, especially if you're using tank drive, what is the purpose of putting an encoder on the front and rear wheels of the same side of the robot? Shouldn't those wheels turn the same amount anyway?

This is no ordinary Vex bot! It's....It's...It's....frankenVex!

It's a prototype with mecanum wheels, so that our programmers can work on the mecanum drive code while the actual robot is being built. FrankenVex consists of a Vex controller, 4 Victor 884s (Motor 1-4), some power wheel motors (I think...very beefy), and the mecanum wheels.

There's a photo attached below. We need the encoders in order to make the thing drive straight!

What's plugged in where: Motors go to ports 1-4, encoders, I've tried plugging an encoder in each of the interrupt ports, and got the weird mapping I described before. I'd like to plug the encoders into ports 1-4...but I'm willing to plug them into any 4 ports such that they'll work

I think I'll probably just stick an old FRC controller onto FrankenVex, making it into FrankenFirst, since the encoders seem to work correctly on the FRC.

Here's a poor picture of it. Once I get it put back together I'll post a better one.

ttyl,

--buddy