Another mentor and myself are trying to learn closed-loop motion control so we can teach our students next year. We have been going through the CTRE documentation and sample code but we have a question.
We are using a E4T encoder with a drive train with a 6-CIM Evo shifter.
Our first question is how many “pulses” per revolution for that encoder. If we spin the tire about 1 revolution, we get a change in the call to “double encoderPosition = _rightMaster.getSensorCollection().getQuadraturePosition();” of about 600. What is this number? I thought it was supposed to be 4096.
We are using the “high” gear on the gearbox, which is 6:1. 4096/6 = 682. 67. Is that the number we should be expecting?
We are using a Talon SRX motor controller.
Thanks for your help.