Through Bore Encoder

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Product Overview

• 7 mm hex bore (compatible with 8 mm REX™)
• 1024 CPR quadrature output resolution on the 4-pin JST connector
• Absolute analog position output on the 3-pin JST connector — see Using the Analog Output
• Optimized for 8 mm build patterns
• Durable SLS nylon construction

CAD Download

Melonbotics_Encoder.step

Mechanical Dimensions

Using the Analog Output

The Through Bore Encoder provides an absolute analog position signal through its 3-pin JST connector. The encoder produces an analog output; the REV Hub and FTC SDK receive that signal as an AnalogInput.

Specifications

• Maximum angle error of ±1.0° (integral non-linearity)
• 12-bit DAC
• 5 µs propagation delay
• 0–3.2 V output range when operated at 3.3 V

Wiring

Method 1: JST Joiner Board (Recommended)

Use the JST Joiner Board to connect two encoders to one Control Hub analog-port connector.

Method 2: Cable Splice (Not Recommended)

Splice the included 3-pin cable with the included 4-pin cable to create an adapter. Refer to the connector pinout diagram below.

FTC Java Example

Configure the corresponding Hub channel as an Analog Input and name it encoder in the FTC Robot Configuration.

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

final double encoderFullScaleVoltage = 3.2;

// Convert voltage to an angle
double positionDegrees =
        encoder.getVoltage() / encoderFullScaleVoltage * 360.0;

// Apply an adjustable offset and normalize the result to 0–360 degrees
double offsetDegrees = -123.4;
double offsetPositionDegrees =
        ((positionDegrees + offsetDegrees) % 360.0 + 360.0) % 360.0;