Hardware Bring Up

Hardware Background

Potentiometers: Measures the resistance as it is rotated. Once calibrated, potentiometers know where they are and can report that.

ADC (Analog-to-Digital Convertor): Converts an analog signal (voltage) to a digital value (integer)

Encoders (Specifically quadrature encoders): A relative measure of rotation. There is no way to know the position from an encoder until you run some sort of calibration that measures the position.

Hardware Bring Up

For potentiometers

• Find ADC Lo and ADC Hi (using FakeCANBoard) to be calculated and then stored in the map for that motor in real_world_constants.h

For encoders:

1. Calculate the pulses per joint revolution (PPJR): Do this by getting the gear ratio to the encoder and the encoder resolution. Multiply these values together.
2. Measure the joint values by running the joint to its limit (using a limit switch) and then measuring. How you measure depends on the joint you are measuring. If you can use a bubble level, do that. If not, figure something else out.