Questions Regarding Shaft Encoder Drive System

Technical Java
1

Hi All,
We are trying to use Shaft Encoders on our mecanum drive to balance our wheel speeds.
We have written code to see the speed of our wheels through the shaft encoders although we haven’t tested it yet. Any suggestions on using this data to control the victors to adjust our wheels? At this point we are not using PID but that can be subject to change.

Your help would be much appreciated… Thanks

Lenny

2

Are you using CAN? If so, you can use the internal PID modules of the jaguars to make your code more clean. If not, then definitely set up a PID loop in your code? Are you using command-based programming? If not, I’d highly recommend it. Once we get more information, we can help you out more. I assume you already know how to get, parse, and understand the speeds it will send you.