What’s the difference between masterpower, masterpower1, and slavepower,slavepower1? i’ve been trying to run my base with 4 motors for autonomous. i know how to run encoders with base “Y’d” but no clue how to run encoders with 4 motors all running. kind of new to the encoders so i’m trying to figure out what they mean and how to use them thanks!
You don’t have to use all 4 encoders, just because you have them on the robot. You can still just use one encoder on the left side and one on the right side, and base left & right side power (master & slave) on the encoder counts of, say, the front 2 encoders. Is that what you’re asking? I’m not sure I see the benefit of using data from all 4 encoders on a chassis.
Essentially, it’s the same as you would do with two pairs Y’d. Use one encoder from each side. When you go to set the motor power, instead of once for the left and once for the right you set two motors on the left to the same value and two motors on the right to the same value.
Even better would be to run all four motors at the same values for a significant amount of time and record four encoder counts (maybe all this disconnected from the robot). Compare these values to make sure the motors actually run about equally. If they’re a bit off and you can’t just swap one out or similar, you can make some little adjustments so you’re not quite using the same values. For example, let’s say your front-right motor runs 2% slower (as gauged by the value sent to the motor) than your back-right motor, then you could set the front-right to 100 and the back right to 98.
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