Need Help :) Issue with comparing encoder readings to double

[9474]

Hi everyone, rookie team with little coding experience. Trying to set limits of our arm using the encoder on my neos. my high limit is -.7167 and resting position is 0. The encoder works, just not able to take its value and compare it to my high limit. For example: armEncoder > targetPosition, issue is that it can’t compare a relative encoder value with a double (arm encoder being the relativeEncoder and target position being a double value i made). Is there any way to convert the encoder reading to a double or make my target position double into the same datatype as the other one. I thought the encoder was supposed to return a double, but it doesn’t seem to. Ill include all my code down below. Sorry if its messy Thanks in advance! Team 9474

package frc.robot;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.XboxController;
import com.revrobotics.RelativeEncoder;
import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkLowLevel.MotorType;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import java.math.BigDecimal;
public class Robot extends TimedRobot {
/**

• This function is run when the robot is first started up and should be used for any
• initialization code.
  */
  //Motor initilization!!
  //public CANSparkBase(int, device6 CANSparkLowLevel, )
  private CANSparkMax leftMotor2 = new CANSparkMax(4, MotorType.kBrushed);
  private CANSparkMax rightMotor1 = new CANSparkMax(3, MotorType.kBrushed);
  private CANSparkMax leftMotor1 = new CANSparkMax(2, MotorType.kBrushed);
  private CANSparkMax rightMotor2 = new CANSparkMax(1, MotorType.kBrushed);
  private CANSparkMax intakeMotor = new CANSparkMax(5, MotorType.kBrushless);
  private CANSparkMax armMotor = new CANSparkMax(6, MotorType.kBrushless);
  private RelativeEncoder armEncoder;
  private DifferentialDrive drive;
  private DifferentialDrive drive2;

//These will be used later for my whack acceleration thing!
public final double gainspeed = 0.5;
public final double gainturn = 0.5;
public double multiplier = 0;
public double multiplier2 = 0;
public double timer = 0;
public double targetPosition = 5.00;
public double restingPosition = 0.00;

XboxController controller = new XboxController(0);

@Override
public void robotInit() {
drive = new DifferentialDrive(leftMotor1, rightMotor1);
drive2 = new DifferentialDrive(leftMotor2, rightMotor2);

}

@Override
public void robotPeriodic() {}

@Override
public void autonomousInit() {
}

@Override
public void autonomousPeriodic() {

}
@Override
public void teleopInit() {

}

@Override
public void teleopPeriodic() {
double f_b = controller.getRawAxis(1);
double l_r = controller.getRawAxis(4);

// Drive the robot

drive.arcadeDrive(-l_r, f_b);
drive2.arcadeDrive(-l_r, -f_b);
if(controller.getLeftTriggerAxis() > .5){
intakeMotor.set(.28);}
else {intakeMotor.set(0);
}
armEncoder = armMotor.getEncoder();
SmartDashboard.putNumber(“Encoder Position”, armEncoder.getPosition());
if(controller.getRightTriggerAxis() >.8){
armMotor.set(.2);
}else if(armEncoder > targetPosition){

}
else{
armMotor.set(0);

}
if(controller.getAButton() == true){
armMotor.set(-0.2);

}else{
armMotor.set(0);
}

}

@Override
public void disabledInit() {}

@Override
public void disabledPeriodic() {}

@Override
public void testInit() {}

@Override
public void testPeriodic() {}

@Override
public void simulationInit() {}

@Override
public void simulationPeriodic() {}
}

[Joe_Ross]

armEncoder is an object so it can’t be compared to double. If you look at the relativeEncoder API, I think you’ll find a method that returns a double that corresponds to the position.

Your code will be much easier to read if you put triple backticks (```) at the beginning and the end to tell the forum not to format it.

[9474]

Thanks, made this quickly, will try it out on Monday, hopefully it works

  armMotor.set(.2);
  double currentArmPosition = armEncoder.getPosition();
  if(currentArmPosition < -5.00){
    armMotor.set(0);
  }

}
  else{ 
     armMotor.set(0);

}
if(controller.getAButton() == true){
  armMotor.set(-0.2);
  double currentArmPosition = armEncoder.getPosition();
  if(currentArmPosition > 0){
    armMotor.set(0);
  }

}else{
  armMotor.set(0);
}```