Shaft Encoder Programming in V5

[SBHSRobotics]

In prevoius years (with the old Cortex) we used for programming, but now that we upgraded to V5, I can’t figure out how to configure the Shaft Encoder (with 2, 3 wire male connectors) in the three wire ports of the new V5 Brain. I’m programming in C++ in VEXCode V5 Text (Pro).

Here are the ones that we are working with

Any help is appreciated

[weilin]

First of all you need to plug them certain way:

@jpearman

Pretty sure all programming solutions either enforce this or have documentation explaining it. For example, PROS has

Encoders must be plugged into the ADI such that the top wire is in an odd numbered port (1, 3, 5, 7 or ‘A’, ‘C’, ‘E’, or ‘G’), and then the bottom wire must be in the next highest port number.

Then you define encoder variable over a triwire port and could get its rotation() or velocity values():

vex::encoder enc1 = vex::encoder(Brain.ThreeWirePort.A);

double r = enc1.rotation(rotationUnits::deg);

https://api.vexcode.cloud/v5/html/classvex_1_1encoder.html