Coding a am-2816a motor encoder.

Technical Java
1

Hi there. We want to use a encoder for our lifting motor on our robot and can’t seem to figure it out. First off is the wires go back to the roboRIO or straight to the Talon srx (CAN). Secondly, how to we code it up so we get sensor feed back from the motor. Thanks in advance.

2

So the wires go to a talon Encoder Breakout board. You can find the wiring specifications on the andymark encoder description page.

In code, change the control mode of the motor


motor.changeControlMode(CANTalon.TalonControlMode.Position)

To get the sensor feedback you can view it in networktables by adding


motor.get()

and to set the motor to a certain encoder position


motor.set(int encValue)
3

Sweet. And this follows PID control, correct?

4

Also is the board needed, or can we go straight to the srx’s pinout?

5

It is theoretically possible to go straight back to the SRX’s pinout, but because of the fine pitch of those pins, it is preferable for most teams to use the breakout to get to a pin pitch solderable by regular humans.

6

Ok thats good too know, its just that its week 6 and we don’t want to wait on shipping

7

Yes. I forgot earlier but I think you have to set the PID before the motor will work. Generally only P is needed, but if it doesn’t work too well increase I very very slightly (start at .002)


motor.setPID(P, I, D)
8

Down below is my code and we want the robot to drive with arcade with a xbox controller also plz help me to get it to turn. And we are using the standard wheels on the robot

package org.usfirst.frc.team5713.robot;

import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.Talon;

public class Robot extends IterativeRobot {
RobotDrive drive = new RobotDrive(1,2,3,4);
Joystick driveStick = new Joystick(0);
Joystick controlStick = new Joystick(1);
Talon frontLeft = new Talon(1);
Talon rearLeft = new Talon(2);
Talon frontRight = new Talon(3);
Talon rearRight = new Talon(4);

public void robotInit() {
drive = new RobotDrive(1,2,3,4);
driveStick = new Joystick(0);
controlStick = new Joystick(1);
frontLeft = new Talon(1);
frontLeft.enableDeadbandElimination(true);
frontLeft.set(+1.0);
rearLeft = new Talon(2);
rearLeft.enableDeadbandElimination(true);
rearLeft.set(-1.0);
frontRight = new Talon(3);
frontRight.enableDeadbandElimination(true);
frontRight.set(+1.0);
rearRight = new Talon(4);
rearRight.enableDeadbandElimination(true);
rearRight.set(-1.0);

public void teleopInit(){
drive = new RobotDrive(1,2,3,4);
driveStick = new Joystick(0);
controlStick = new Joystick(1);
frontLeft = new Talon(1);
frontLeft.enableDeadbandElimination(true);
frontLeft.set(-1.0);
rearLeft = new Talon(2);
rearLeft.enableDeadbandElimination(true);
rearLeft.set(+1.0);
frontRight = new Talon(3);
frontRight.enableDeadbandElimination(true);
frontRight.set(-1.0);
rearRight = new Talon(4);
rearRight.enableDeadbandElimination(true);
rearRight.set(+1.0);

}

public void teleopPeriodic() {
while (isOperatorControl() && isEnabled()) {
drive.setSafetyEnabled(true);

double joystickLeftY = driveStick.getRawAxis(2);
double joystickLeftX = driveStick.getRawAxis(1);
drive.arcadeDrive(joystickLeftY, joystickLeftX, true);
Timer.delay(0.01); } }

also our team is using standard wheels and we have the middle wheel and back wheel connected to drive train and the middle wheel has two motors and the same applies to the other middle wheel. for going forward and backward can someone plz help

9

This should work.

10

Thank You

11