Simple Encoder code

Technical C/C++
1

Looking for simple code to use for encoders during autonomous. preferably without pid because our pid isnt tuned.
We use Grayhill Encoders.

2

This isn’t nearly enough information here to provide any substantive help. What language do you use? What motor controllers? What kind of drive? Do you have a github where we can view your team’s code?

3

C++ probably

4

Minimum code for determining distance with an e4t encoder. I have not used the grayhill, but if they are quadrature I would expect them to be similar.

#include “wpilib.h”

class Robot: public IterativeRobot
{
private:
Encoder MyEncoder;
public:
Robot() :
MyEncoder(0, 1, true, CounterBase:: k4X) //DIO 0 and 1 channels
{
}

void RobotInit()
{
            // DistancePerPulse = (wheeldiameter * 3.1415)/360
        float DistancePerPulse = 0.05911;
	MyEncoder.SetDistancePerPulse(DistancePerPulse);
}

void AutonomousInit() override
{
	MyEncoder.Reset(); //zero the encoders
}

void AutonomousPeriodic() 
{
	double distance = MyEncoder.GetDistance();
}

void TeleopInit()	{	}

void TeleopPeriodic()	{	}

};

START_ROBOT_CLASS(Robot)