Using a rev through bore as an absolute encoder

Technical Java
1

We are trying to get an angle from a Rev Through Bore encoder as an absolute encoder. We have the red white and black wires connected to the DIO port on the RoboRio.

We are using the DutyCycleEncoder class
m_angleEncoder.setDutyCycleRange(1/1024, 1023/1024);
m_angleEncoder.setDistancePerRotation(360);
m_angleEncoder.setPositionOffset(ARM_OFFSET_DEGREES);

We get NaN (Not a number) for the result when setting the dutyCycleRange
if we don’t set the duty cycle range we get we seem to get values 0 to 1. How is this supposed to be configured?

2

Add .0 to all your numbers. Java’s integer division is rounding these to zero.

2 Likes
3

YEah, the integer division issue fixed the NaN issue, but is still not returning a 360 but a 0-1 number which it does without setting the cycle range.

4

What function are you calling? Get() is not scaled by setDistancePerRotation(), getDistance() is.

5

Wait, that is because I am getting absolute position, i need to getDistance

6

If you want the absolute position to be 0-360, you need to do that multiplication yourself.

1 Like