How to use analog output

The melonbotics Encoder offers analog absolute output on the 3-Pin JST port.

Specs

• Maximum angle error of ±1.0° (Integral Non-Linearity)

• 12-Bit DAC

• 5us Propagation Delay

• Output Range 0V -> 3.2V (when used on at 3.3V)

Wiring

Method 1 (Recommended)

Use the JST Joiner Board to connect two Encoders to one Control Hub analog port.

Method 2 (Not Recommended)

Splice the included 3-Pin cable, with the included 4-Pin cable to create an adapter. Starting from Pin 1, the 3-Pin JST is wired A_OUT, VCC and GND respectively. Looking towards the connectors on the encoder, Pin 1 of the 3-Pin JST is the far right pin, nearest the encoder casing.

Code Example

// Get analog port instance from hardwareMap
AnalogInput encoder = hardwareMap.get(AnalogInput.class, "encoder");

// Simple position return
double position = encoder.getVoltage() / 3.2 * 360;

// Position return with adjustable offset
// Offset must be positive, otherwise the modulo (%) operation breaks
//
// If you want to use a negative offset, just add some multiple of 360 so
// that the offset evaluates to be positive.
double offset = -123.4 + 360;
double offsetPosition = (encoder.getVoltage() / 3.2 * 360 + offset) % 360;