Titan Encoder

Handles the Encoder ports on the Titan.

Note

While the Titan Encoder inputs are accurate on the Titan, with the CAN bus propagation delay, there will be a delay between the actual count and the count read on the VMX. If you require immediate counts plug your encoders into the FlexDIO ports directly on the VMX.

Description of TitanENC

vi	Attributes
Encoder	Titan Encoder initialization
Read	Titan Encoder reading
Read RPM	Titan Encoder rpm reading
Reset	Titan Encoder reset

TitanENC

Is a class that contains the code for reading the encoder ports on the Titan. Has only a HG_LIB output.

Read

A vi that allows for reading the encoder count from the port specified by the Create ID vi.

Inputs and Outputs

Name	I/O	Attribute
TitanENC in	Input	The input cluster from Create ID
error in (no error)	Input	The error input cluster
TitanENC out	Output	The output cluster to go to Delete ID
ENC	Output	The raw encoder count
ENC/dt	Output	The delta change in encoder count
error out	Output	The error output cluster

Read_RPM

A vi that allows for reading the encoder rpm count from the port specified by the Create ID vi.

Inputs and Outputs

Name	I/O	Attribute
TitanENC in	Input	The input cluster from Create ID
error in (no error)	Input	The error input cluster
TitanENC out	Output	The output cluster to go to Delete ID
rpm	Output	The rpm of the motor reported by the Titan
error out	Output	The error output cluster

Reset

A vi that allows for resetting the encoder count from the port specified by the Create ID vi.

Inputs and Outputs

Name	I/O	Attribute
TitanENC in	Input	The input cluster from Create ID
error in (no error)	Input	The error input cluster
TitanENC out	Output	The output cluster to go to Delete ID
error out	Output	The error output cluster

Encoder Read Example

This example reads the encoder count on Titan Encoder port 0.

Encoder Read_RPM Example

This example reads the encoder rpm on Titan Encoder port 0.

Encoder Reset Example

This example resets the encoder count on Titan Encoder port 0.