How to use mag encoder C++

Sid2001 · February 10, 2019, 12:21am

Hello, our team this year is using two motors, TalonSRX and two mag encoders for an elevator system. I am looking through the internet and cant really find any examples on how to take a value for the mag encoders. For example if I wanted to make the motors move up until a certain value, how would I do that. Help would be greatly appreciated. I am using C++ also btw.

redmonke · February 10, 2019, 1:06am

Here’s some sample code that you can use.

github.com

CrossTheRoadElec/Phoenix-Examples-Languages/blob/master/C++/CANifier Quadrature/src/main/cpp/Robot.cpp

#include <iostream>
#include <string>

#include "frc/WPILib.h"
#include "ctre/Phoenix.h"

using namespace frc;

class Robot : public TimedRobot {
public:
	/* Hardware */
	TalonSRX * _tal;
	CANifier * _can;
	Joystick * _joy;

	/* Variable to keep track of loop count */
	unsigned int count;

	void RobotInit() {
		/* Instantiate objects */

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You can probably ignore the CANifier stuff, and if you would like to you can replace the cout with a statement outputting to the SmartDashboard.