Hi can anyone help with encoder code we are using java and can’t seem to receive any variables back from them.
Thanks
What type of encoder (model #) are you using?
How have you wired it up to the roboRIO?
Can you provide a copy of your code so we can check it?
Have you tried following the java encoder code example here?: https://wpilib.screenstepslive.com/s/4485/m/13809/l/241875-encoders-measuring-rotation-of-a-wheel-or-other-shaft
Can you give more details as to what encoder you are using, how it is wired, and what your code looks like?
Got 99 problems and quadrature is 1, no wait… 2 of them?
-Check wiring
-Check the encoder
-Hook up a scope to the lines and see if you get the response you expect
-Check your code, are you calling on the right variables? Are they changing as expected? Is anything being overwritten or called incorrectly? Perhaps you could share a snippet of your code to help with debugging.
The more effort you put into providing detailed information, the more likely you are to receive quick and accurate advice.
What are you using the encoder for? To measure speed, or distance, or both? Drivetrain? Shooter wheelspeed control?
What motor controller are you using, and do you have the encoder wired to the roboRIO or to the motor controller (TalonSRX)?
Sorry for the lack of information.
We are trying to use encoders attached to the sonic shifter from AndyMark.
Sonic Shifter:
And the encoder being used with the sonic shifter is the am-3132:
We have them wired from the encoder into the RoboRio’s DIO ports. Each encoder requires two ports because they each have 2 signal channels (A and B).
package org.usfirst.frc.team5712.robot;
import com.kauailabs.navx_mxp.AHRS;
import com.ni.vision.NIVision.Image;
import edu.wpi.first.wpilibj.CameraServer;
import edu.wpi.first.wpilibj.CounterBase;
import edu.wpi.first.wpilibj.CounterBase.EncodingType;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.SerialPort;
import edu.wpi.first.wpilibj.VictorSP;
import edu.wpi.first.wpilibj.command.Scheduler;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj.Servo;
import edu.wpi.first.wpilibj.Timer;
/**
*
* @author Phillip Spannagel
*
*/
public class Robot extends IterativeRobot {
Joystick driveStick;
CameraServer forwardCam, reverseCam;
VictorSP leftFront, leftRear, rightFront, rightRear, shooterR, shooterL, armLift;
Servo servo;
RobotDrive drive;
SerialPort serial_port;
SendableChooser autonomous;
AHRS gyro;
Encoder encoderLeft, encoderRight, encoderLift;
double angle;
int tickGoal = 15 * 24;
int shootCount = 0;
int autoLoopCounter = 0;
public void robotInit() {
driveStick = new Joystick(0);
leftFront = new VictorSP(0);
leftRear = new VictorSP(1);
rightFront = new VictorSP(2);
rightRear = new VictorSP(3);
shooterL = new VictorSP(4);
shooterR = new VictorSP(5);
armLift = new VictorSP(6);
servo = new Servo(7);
drive = new RobotDrive(leftFront, leftRear, rightFront, rightRear);
serial_port = new SerialPort(57600, SerialPort.Port.kMXP);
byte update_rate_hz = 50;
gyro = new AHRS(serial_port, update_rate_hz);
gyro.resetDisplacement();
encoderRight = new Encoder(0, 1, false, Encoder.EncodingType.k4X);
encoderRight.setDistancePerPulse(1);
encoderRight.setMaxPeriod(.1);
encoderRight.setMinRate(10);
encoderRight.setSamplesToAverage(7);
encoderLeft = new Encoder(2, 3, false, Encoder.EncodingType.k4X);
encoderLeft.setDistancePerPulse(1);
encoderLeft.setMaxPeriod(.1);
encoderLeft.setMinRate(10);
encoderLeft.setSamplesToAverage(7);
encoderLift = new Encoder(4, 5, false, Encoder.EncodingType.k4X);
encoderLift.setDistancePerPulse(1);
forwardCam = CameraServer.getInstance();
reverseCam = CameraServer.getInstance();
forwardCam.setQuality(50);
reverseCam.setQuality(50);
forwardCam.startAutomaticCapture();
reverseCam.startAutomaticCapture();
}
public void autonomousInit() {
// drive.setInvertedMotor(RobotDrive.MotorType.kFrontLeft, true);
// drive.setInvertedMotor(RobotDrive.MotorType.kFrontRight, true);
// drive.setInvertedMotor(RobotDrive.MotorType.kRearLeft, true);
// drive.setInvertedMotor(RobotDrive.MotorType.kRearRight, true);
//start = true;
gyro.zeroYaw();
servo.setAngle(180);
encoderLeft.reset();
encoderRight.reset();
}
public void autonomousPeriodic() {
angle = gyro.getYaw();
if (autoLoopCounter < 500) {
drive.drive(-0.3, 0.0);//start moving
// gyro drive "straight"
if (angle < -2)
{
rightFront.set(-0.5);
rightRear.set(-0.5);
}
if (angle > 2)
{
leftFront.set(-0.5);
leftRear.set(-0.5);
}
}
else if (autoLoopCounter == 500)
{
drive.drive(0, 0);
gyro.zeroYaw();
}
else if (autoLoopCounter < 700)
{
leftFront.set(-.3);
leftRear.set(-.3);
rightFront.set(.3);
rightRear.set(.3);
if(gyro.getYaw() > -145 && gyro.getYaw() < -150) {
leftFront.set(0);
leftRear.set(0);
rightFront.set(0);
rightRear.set(0);
}
}
autoLoopCounter++;
SmartDashboard.putNumber("Yaw", gyro.getYaw());
SmartDashboard.putNumber("Servo Angle", servo.getAngle());
/*
* SmartDashboard.putNumber("Count (Left)", encoderLeft.get());
* SmartDashboard.putNumber("Count (Right)", encoderRight.get());
*
* SmartDashboard.putNumber("Distance (Left)",
* encoderLeft.getDistance()); SmartDashboard.putNumber("Raw (Left)",
* encoderLeft.getRaw()); SmartDashboard.putNumber("Rate (Left)",
* encoderLeft.getRate());
*
* SmartDashboard.putNumber("Distance (Right)",
* encoderRight.getDistance()); SmartDashboard.putNumber("Raw (Right)",
* encoderRight.getRaw()); SmartDashboard.putNumber("Rate (Right)",
* encoderRight.getRate());
*/
SmartDashboard.putNumber("encoder (Lift)", encoderLift.get());
}
public void teleopPeriodic() {
drive.arcadeDrive(driveStick);
if (driveStick.getRawButton(1) == true) {
drive.arcadeDrive(driveStick);
shooterL.set(1.0);
shooterR.set(-1.0);
servo.setAngle(90);
shootCount++;
if (shootCount > 50) {
shooterL.set(0);
shooterR.set(0);
servo.setAngle(180);
shootCount = 0;
}
}
if (driveStick.getRawButton(1) == false && shootCount != 0) {
shootCount = 1;
}
// set servo angle
if (driveStick.getRawButton(8) == true) {
servo.setAngle(180);
}
if (driveStick.getRawButton(9) == true) {
servo.setAngle(30);
}
// intake
if (driveStick.getRawButton(2) == true) {
shooterL.set(-.6);
shooterR.set(.6);
} else if (driveStick.getRawButton(2) == false) {
shooterL.set(0);
shooterR.set(0);
}
// raise and lower shooting arm
if (driveStick.getRawButton(3) == true) {
armLift.set(.5);
} else if (driveStick.getRawButton(4) == true) {
armLift.set(-.5);
} else if (driveStick.getRawButton(3) == false) {
armLift.set(0);
}
}
public void testPeriodic() {
/*if(start = true){
if(angle < 180)
{
leftFront.set(.5);
leftRear.set(.5);
rightRear.set(-.5);
rightRear.set(-0.5);
}
else if(angle == 180)
{
leftFront.set(0);
leftRear.set(0);
rightRear.set(0);
rightFront.set(0);
}
if(angle == 180){
start = false;
}
}
if(start = false){
gyro.resetDisplacement();
gyro.zeroYaw();
}
*/
}
}
I included all of our code. Please let me know if you need any more information.
This looks suspicious:
// Encoder encoderLeft, encoderRight,
Doesn’t the encoderRight = new Encoder(); line give you an error because encoderRight isn’t defined?
Yea, I agree with Alan. This code shouldn’t even compile.
//Encoder encoderLeft, encoderRight
Shouldn’t be commented out.
We had commented sections of the encoder code that were not working. Before I pasted the code on here I attempted to un-comment everything, but it seems I forgot a couple lines.
Sorry everybody.
Even when the code was un-commented we still were not receiving values. I edited the code, so it should be able to compile now.
The E4T encoder has a very specific installation process, especially when interfacing with the AndyMark gearbox. I would make sure that the disk for the encoder is the correct distance away from the sensor (by using the spacing tool), as I’ve seen incorrect installations return no values.
1 Like
If you put a meter between find and channel A and B, you should be able to see the logic levels change as the wheel turns.
If you can measure this, the encoder is working properly and its either a wiring or code problem.
If you don’t get fluctuating values on the meter, then its likely that the disk within the encoder isn’t installed correctly per Pratiks suggestion
Find = Ground. Autocorrect…
…Put a meter between ground and channel A or B…