> For the complete documentation index, see [llms.txt](https://docs.melonbotics.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.melonbotics.com/through-bore-encoder/how-to-use-analog-output.md).

# 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](https://www.melonbotics.com/products/jst-joiner-board) to connect two Encoders to one Control Hub analog port.

<figure><img src="https://1580331926-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FnHZmDkFp5cOUYczo9V98%2Fuploads%2Fgit-blob-0cde8c4d7a4a5044b5ace7fb6e745de01d6643c8%2FIMG-8611.jpg?alt=media" alt="" width="188"><figcaption></figcaption></figure>

#### Method 2 **(Not Recommended)**

Splice the included 3-Pin cable, with the included 4-Pin cable to create an adapter. See below diagram for connector pinouts.

<figure><img src="https://1580331926-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FnHZmDkFp5cOUYczo9V98%2Fuploads%2Fgit-blob-e4082b6ac5a857e5237f0ff89278da96390f4299%2FEncoder%20pinout.png?alt=media" alt="" width="375"><figcaption></figcaption></figure>

## Code Example

```java
// 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;
```