I am planning to use the optical shaft encoder to travel accurate distances and make accurate turns during autonomous this year. I have no idea how to program the shaft encoder and was wondering if anyone has any code I could use for this sensor.

You’re talking integrated motor encoder external quad encoder?

Here’s a topic you could read which might help you: [image] 98881A Odometry Devlog VEX Robot Showcase Hey, I’m Cody from 98881A. This is a showcase of an odometry system (absolute position tracking) that I have been working on for the past month or so. Special thanks to @P…

If you’re using an external quad encoder, don’t do it. It is a waste of ports. Instead, use the IME (integrated motor encoder). They serve the same purpose as an external encoder given that there is minimal wheel slippage. External quad encoders were primarily for v4 in which they were necessary to …

I am very familiar with the integrated motor encoder. And I think you’re right that I should just use those for now. Besides, I am low on ports with potentiometers and limit switches anyway. Thanks for the help!

No problem. Also important to note, after P-loops, the next step is PD controllers and then PID. You’ll get more and more accurate after each iterative phase in coding. Slew rate control will effectively eliminate start up wheel slippage while the P(ID) controller will eliminate deceleration slippag…

Optical Shaft Encoder Programming Help

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meepmeepme September 17, 2019, 12:23am 4

Here’s a topic you could read which might help you:

What you’re asking for is generally know as odometry. It’s present in FRC and VRC, you can look for others code and adapt it.