Zeroing an Absolute Encoder - HHS-Team670/MustangLib GitHub Wiki

Zeroing an Absolute Encoder

Authors: Armaan, Aditi

Date: 7/7/23

Steps

  1. Log the absolute encoder position (through Glass or other Telemetry software)

  2. Set the encoder offset to zero. Re deploy code!

  3. Move the subsystem connected to the encoder to a reference angle (This angle should not change between multiple zeroing attempts) (Example Reference angles: 90,180,270,360)

  4. Record the encoder position at that point and use that value as the encoder offset.

  5. Look at setEncoderPositionFromAbsolute() in our 2023 Robot Code for the application of the offset. Our reference angle was 180 degrees (vertical)