Help with Programming a CIMCODER

[JasonxDbD202]

I recently got a package of CIMCoders for our Robot’s Drivetrain. The problem is that I’ve never actually programmed encoders before; Especially, CIMCoders. So, I used the example code provided from AndyMark, but I could never get any values from the CIMCoder. I knew the CIMCoder worked because both Channel A and B flashed when I moved the motor. Please help I’m very confused! (Code I used is listed below)

package frc.robot;

import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;

/**

• The VM is configured to automatically run this class, and to call the functions corresponding to
• each mode, as described in the TimedRobot documentation. If you change the name of this class or
• the package after creating this project, you must also update the build.gradle file in the
• project.
  /
  public class Robot extends TimedRobot {
  /*
  • This function is run when the robot is first started up and should be used for any
  • initialization code.
    */

Encoder encoder;

private static final double cpr = 64;

private static final double whd = 6;

@Override
public void robotInit() {
encoder = new Encoder(0,1);
encoder.setDistancePerPulse(Math.PIwhd/cpr); //distance per pulse is pi (wheel diameter / counts per revolution)
}

@Override
public void robotPeriodic() {
double dist = encoder.getDistance();
SmartDashboard.putNumber(“Encoder”, dist);
}

[Joe_Ross]

I recommend printing the value you are sending to setDistancePerPulse. I doubt it’s what you’re expecting.

[JasonxDbD202]

I’ve also tried that; Doesn’t work either.

UPDATE: I forgot to mention that I’ve plugged my CIMCoder into my TalonSRX. Should I try connecting it to the dio?

[rcam]

If the encoder is on the SRX then you need the configSelectedFeedbackSensor​ method from CTRE to set it up. Like this

TalonSRX motor = new TalonSRX(0);
//Config the CIMcoder
motor.configSelectedFeedbackSensor(FeedbackDevice.QuadEncoder, 0, 30);
//Get the position 
motor.getSelectedSensorPosition();

The encoder class from WPIlib won’t work unless the encoder is connected to the dio. The CTRE examples show more of what you can with the encoder.

[JasonxDbD202]

Thanks. I did not have the CIMCOder plugged into the DIO. Thank you for the help!

[JasonxDbD202]

Thank you! I was able to wire the power and ground along with the two signal wires to the DIO Port.