SRX Mag Encoder Walking

growingSTEMS / FRC_836_2018_Robot_Code

Code used on our 2018 FRC robot

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SRX Mag Encoder Walking #16

Closed Cheeto836 closed 6 years ago

Cheeto836 commented 6 years ago

The SRX Mag Encoder that was being used to control the rotational portion of the lift arm appears to walk. After testing and tuning for a little bit the sensor calibration would be off sometimes by up to 30 degrees.

Cheeto836 commented 6 years ago

The problem has been worked around by switching to using an IMU to measure the angle of the rotation arm.

Cheeto836 commented 6 years ago

Discovered this was because the encoders were assembled incorrectly. The encoder can only walk when the shaft it is on spins due to the intake trying to drive through something it can't.