Quadrature encoder help

I can’t figure out how to program a quadrature encoder. I am trying to set it up so that my catapult will ratchet back to a certain position. Everything I’ve tried hasn’t worked so far. Any advice?

This topic was covered with a potentiometer for the sensor just a few days ago. You should be able to follow the same logic with a quadrature encoder providing its value

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This appears to be for autonomous. Will this work for driver control? Is there a different way I need to implement this for driver mode?

Worth noting, I’m using robotc…

Figured it out! Thanks!