| | 161 | In the example above, we controlled the amount of power we were delivering the motor (0=none, 1.0=full power), but that doesn't tell us how fast the robot is moving or the wheel is turning. Just like a car or a bicycle, the speed a robot will go under a given amount of power depends on how heavy the robot is, whether it's going up a hill or down a hill, etc. To tell how fast a wheel is turning or to determine exactly where it has turned, we use encoders. An encoder is a device attached to the motor or wheel shaft that generates a pulse with each partial rotation (e.g. every 5-degrees of rotation, another pulse is generated). By counting these pulses, we can tell how fast the wheel is turning or what position it is in. You can read more about encoders [https://wpilib.screenstepslive.com/s/currentCS/m/java/l/599717-encoders-measuring-rotation-of-a-wheel-or-other-shaft here]. |
