Please Help with Encoder in C++!

system · February 14, 2013, 8:38pm

We are trying to control the speed of a motor on our shooter mechanism with an encoder. We have researched up and down and still can’t seem to find any simplified advice. We just switched from Lab View to C++ this year and we are all still learning. Does anyone have some sample code and/or an explanation of how to incorporate an encoder into a Command Based C++ program? Thank you!
-Alicia of Team 3197

Meshbeard · February 14, 2013, 9:19pm

github.com

rosekunkel/422-robot-2013/blob/master/Subsystems/Shooter.cpp

/**
 * @file Shooter.cpp
 * @brief Implementation of the Shooter subsystem
 * @author Nyle Rodgers
 * @author William Kunkel
 */

#include "Shooter.h"
#include "../RobotMap.h"

#ifdef USE_BANG_BANG
#include "../Commands/BangBangShooterControl.h"
#else
#include "../Commands/OperateShooter.h"
#endif

#ifndef USE_BANG_BANG
const float Shooter::P = 0.01,
            Shooter::I = 0.0,
            Shooter::D = 0.025;

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Here is our starting PID control system for our shooter. It has two wheels, with an encoder on each wheel. The encoder resolution is 256 ticks per revolution. This loop needs to be tuned (changing the P, I, and D constants), but it is functional starting code.