Using Encoders

     The first thing we did during this class period was to mount a set of encoders onto the VEX Small Bot and write a simple code to track them. Once the code was written and the encoders were attached to the VEXduino, we could observe the encoder counts increasing in the global variables window as the wheels turned.

     Once it was determined that the encoders were working properly, we had to write a code that would cause the robot to drive forward exactly 12 inches or one square floor tile. Some values which stemmed from the diameter of the wheel were used to determine a coefficient that would be used in the code. That coefficient had to be played around with a little bit, but eventually the robot did travel forward exactly 12 inches.