setDistancePerPulse for pathfollowing with NEO motors

Technical Programming
, , , ,
#1

I am following this tutorial on pathfollowing with wpilib: Step 3: Creating a Drive Subsystem — FIRST Robotics Competition documentation

In the tutorial, it appears they are using external encoders while I am using the encoders built into the NEO motor from REVrobotics. In their tutorial, they use this method:

m_leftEncoder.setDistancePerPulse(DriveConstants.kEncoderDistancePerPulse);
m_rightEncoder.setDistancePerPulse(DriveConstants.kEncoderDistancePerPulse);

What is this and is there an equivalent for NEO motors with the REV library? Thanks!!

#2

setPositionConversionFactor and setVelocityConversionFactor will provide equivalent functionality, although the numbers to pass to the function will be different.

Docs here:
https://codedocs.revrobotics.com/java/com/revrobotics/sparkmaxrelativeencoder#setPositionConversionFactor(double)

1 Like
#3

so the conversion factor is the conversion from motor rotations to wheel rotations?

1 Like
#4

The argument you pass is multiplied by the native unit (rotations for position, rpm for velocity) to get your converted unit.

#5

Thanks!!