Any encoder with a get distance method being used (drivetrain, lift), MUST have first called the setDistancePerPulse() method. This method defines the conversion from ticks (wha tthe encoder reports to the robot) to a distance in whatever units you provide. Preferably inches.
To figure out the distance associated with a single tick, you will need to understand how the subsystem works, the gearing in the gearbox, and how many ticks the encoder sees in each time it travels a complete revolution.
Any encoder with a get distance method being used (drivetrain, lift), MUST have first called the setDistancePerPulse() method. This method defines the conversion from ticks (wha tthe encoder reports to the robot) to a distance in whatever units you provide. Preferably inches.
See: http://team2168.org/javadoc/edu/wpi/first/wpilibj/Encoder.html#setDistancePerPulse-double-
To figure out the distance associated with a single tick, you will need to understand how the subsystem works, the gearing in the gearbox, and how many ticks the encoder sees in each time it travels a complete revolution.
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