Encoder Sensing

To make Optical Shaft Encoder blocks appear in VEXcode V5, a 3-Wire Shaft Encoder must be configured in the Devices window.

For more information, refer to these articles:

• Connecting a 3-Wire Device to the V5 Brain

• Using the V5 3-Wire Optical Shaft Encoder

Set Shaft Encoder Position

The Set Shaft Encoder Position block is used to set the Shaft Encoder’s position to the given value.

  set [EncoderC v] position to (0) degrees

Choose which Shaft Encoder to use.

In this example, the Shaft Encoder will print its starting position, set its position to 90 degrees, and then print the new position.

  when started :: hat events
  print ([EncoderC v] position in [degrees v]) on [Brain v] ◀ and set cursor to next row
  set [EncoderC v] position to (90) degrees
  print ([EncoderC v] position in [degrees v]) on [Brain v] ◀ and set cursor to next row

Shaft Encoder Position

The Shaft Encoder Position block is used to report the distance the Shaft Encoder has rotated.

  ([EncoderC v] position in [degrees v])

Choose which Shaft Encoder to use.

Choose which unit to report in: degrees or turns.

In this example, the Shaft Encoder will print its starting position, set its position to 90 degrees, and then print the new position.

  when started :: hat events
  print ([EncoderC v] position in [degrees v]) on [Brain v] ◀ and set cursor to next row
  set [EncoderC v] position to (90) degrees
  print ([EncoderC v] position in [degrees v]) on [Brain v] ◀ and set cursor to next row

Shaft Encoder Velocity

The Shaft Encoder Velocity block is used to report the current velocity of a Shaft Encoder.

  ([EncoderC v] velocity in [dps v])

Choose which Shaft Encoder to use.

Choose which unit to report in: degrees per second (dps) or rotations per minute (rpm).