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  • Introduction
  • Getting Started with Control Hub
    • Connect to the Robot Controller Console
    • Updating Wi-Fi Settings
    • Connecting Driver Station to Control Hub
    • Wiring Diagram
    • Next Steps
  • Getting Started with Driver Hub
  • Adding More Motors
    • SPARKmini Motor Controller
    • Adding an Expansion Hub
  • Troubleshooting the Control System
    • General Troubleshooting
    • Control Hub Troubleshooting
    • Driver Hub Troubleshooting
      • Driver Hub Battery Troubleshooting
    • Expansion Hub Troubleshooting
    • Status LED Blink Codes
  • System Overview
    • Control Hub Specifications
    • Expansion Hub Specifications
    • Driver Hub Specifications
    • Port Pinouts
    • Protection Features
    • Cables and Connectors
      • XT-30 - Power Cable
      • JST VH - Motor Power
      • JST PH - Sensors and RS485
    • Integrated Sensors
    • Dimensions and Important Component Locations
  • Updating and Managing
    • Managing Wi-Fi on the Control Hub
    • REV Hardware Client
    • Updating Firmware
      • Firmware Changelog
    • Updating Operating System
      • Control Hub Operating System Changelog
    • Updating Robot Controller Application
      • Updating Robot Controller Application via Android Studio
    • Updating the Driver Hub
      • Driver Hub OS - Change Log
    • Accessing Log Files
    • Android Studio - Deploying Code Wirelessly
  • Hello Robot - Intro to Blocks Programming
    • Welcome to Hello Robot!
    • Where to Program - Client vs. Browser
      • What is an OpMode?
    • Setting up a Configuration
      • Common Errors in Configuration
    • Using a Gamepad
    • Part 1: Tackling the Basics
      • Tackling the Basics Directory - Blocks
      • Creating an OpMode - Blocks
      • Programming Essentials
      • Programming Servos
        • Programming Servo Basics
        • Using a Gamepad with a Servo
        • Programming Servo Telemetry
      • Programming Motors
        • Programming Motors Basics
        • Programming a Motor with a Gamepad
        • Programming Motor Telemetry
      • Programming Touch Sensors
      • Programming Color Sensors
        • Color Sensor Telemetry
        • Detecting Color
    • Part 2: Robot Control
      • Robot Control Blocks Directory
      • Programming Drivetrain Motors
      • Arcade Style TeleOp - Blocks
        • Establishing Variables in Blocks
        • Motor Power vs. Robot Movement
        • Programming Arcade Drive
      • Arm Control - Blocks
        • Adding a Limit Switch
      • Robot Control Full Program
    • Part 3: Autonomous and Encoders
      • ElapsedTime - Blocks
        • ElapsedTime Setup
        • ElapsedTime Logic
        • ElapsedTime - Multiple Movements
      • Encoder Basics
      • Drivetrain Encoders - Blocks
        • Converting Encoder Ticks to a Distance
        • Moving to a Target Distance
        • Setting Velocity
        • Turning the Drivetrain Using RUN_TO_POSITION
      • Arm Control with Encoders - Blocks
        • Estimating the Position of the Arm
        • Calculating Target Position
        • Using Limits to Control Range of Motion
    • Part 4: Going Beyond!
      • Exploring Functions
      • Programming Mecanum - Simplified
      • Programming Mecanum - Refined
  • Hello Robot - Intro to OnBot Java Programming
    • Welcome to Hello Robot!
    • Where to Program - Client vs. Browser
      • What is an OpMode?
    • Setting up a Configuration
      • Common Errors in Configuration
    • Using a Gamepad
    • Part 1: Tackling the Basics
      • Tackling the Basics Directory - OnBot
      • Creating an OpMode - OnBot
      • Programming Essentials
      • Programming Servos
        • Programming Servo Basics
        • Using a Gamepad with a Servo
        • Programming Servo Telemetry
      • Programming Motors
        • Programming Motor Basics
        • Programming a Motor with a Gamepad
        • Programming Motor Telemetry
      • Programming Touch Sensors
    • Part 2: Robot Control
      • Robot Control OnBot Java Directory
      • Programming Drivetrain Motors
      • Arcade Style TeleOp - OnBot Java
        • Establishing Variables in OnBot Java
        • Motor Power vs. Robot Movement
        • Programming Arcade Drive
      • Arm Control - OnBot Java
        • Adding a Limit Switch
      • Robot Control Full Program
    • Part 3: Autonomous and Encoders
      • ElapsedTime - OnBot Java
        • ElapsedTime Setup
        • ElapsedTime Logic
        • ElapsedTime - Multiple Movements
      • Encoder Basics
      • Drivetrain Encoders - OnBot Java
        • Converting Encoder Ticks to a Distance
        • Moving to a Target Distance
        • Setting Velocity
        • Turning the Drivetrain Using RUN_TO_POSITION
      • Arm Control with Encoders - OnBot Java
        • Estimating the Position of the Arm
        • Calculating Target Position
        • Using Limits to Control Range of Motion
  • Sensors
    • Introduction to Sensors
    • Digital
    • Analog
    • I2C
      • IMU
        • Orientating the IMU
      • Adding an External IMU to your Hub
    • Encoders
      • REV Motor Encoders
      • Through Bore Encoder
    • Using 3rd Party Sensors
      • Sensor Compatibility Chart
  • Useful Links
    • REV DUO Build System
  • Legacy Documentation
    • Configuring Your Android Devices
    • Expansion Hub with Android Device Robot Controller
      • Driver Station and Robot Controller Pairing
      • Wiring Diagram
      • Configuration
    • REV Hub Interface Software
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  1. Hello Robot - Intro to OnBot Java Programming
  2. Part 3: Autonomous and Encoders

Arm Control with Encoders - OnBot Java

PreviousTurning the Drivetrain Using RUN_TO_POSITIONNextEstimating the Position of the Arm

Last updated 5 months ago

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This section is written with the Class Bot V2 in mind, but can be followed with appropriate adjustments, such as mechanism angles, on other robot designs!

We've covered using encoders for a drivetrain, but what about for a different mechanism, such as an arm? Unlike the drivetrain, the arm does not follow a linear path. This means rather than converting to a linear distance it makes more sense to convert the encoder ticks into an angle measured in degrees!

In the image below two potential positions are showcased for the Class Bot arm. One of the positions (blue) is the position where the arm meets the limit of the touch sensor. Due to the limit, this position will be our default starting position.

From the Class Bot build guide, it is known that the Extrusion supporting the battery sits a 45 degree angle. Since the arm is roughly parallel to these extrusion when it is in the starting position, we can estimate that the default angle of the arm is roughly 45 degrees.

The goal of this tutorial is to determine the amount of encoder ticks it will take to move the arm from its starting position to a position around 90 degrees.

There are a few different ways this can be accomplished. For example, an estimation can be done by moving the arm to the desired position and recording the telemetry feedback from the Driver Station. Alternatively, we can do the math calculations to find the amount of encoder ticks that occur per degree moved.

Follow through this tutorial to walk through both options and determine which is the best for your team!