Manual

Parameter: void // for GetSensorPotX

short channel; /* 0, 1, 2, 3, 4, or 5 for Potentiometer #

1, 2, 3, 4, 5, 6 */

Return value: short ival;

Return data interpretation & Remark:

1. The return data is the raw value of the analog to digital converter indicating the output

voltage of the sensor. The data range is between 0 and 4095. The angular position can

be calculated as follows, with the 180˚ position defined at sensor’s physical middle

position. Single sensor or dual sensor can be used for rotation measurement.

2. Single sensor is mainly used for the control of robot joint with limited rotation range.

The effective mechanical rotation range is 14˚ to 346˚, corresponding to the effective

electrical rotation range 0˚ to 332˚.

Angle position (˚) = (ival - 2048)/4095*333 + 180

3. Dual-sensor configuration is mainly used for continuous rotating joint control (such as

wheels). The effective rotation range is 0˚ to 360˚. Dual sensor configuration is only

available for channel 0 and 1. By connecting two potentiometers to potentiometer

channel 0 and channel 5, and specify the sensor type with command

SetDCMotorSensorUsage() to “Dual potentiometer sensor”, the channel 0 reading

will combine these two sensor readings into 0˚ to 360˚ range. For channel 1, you

should connect the two potentiometers to channel 1 and 4.

Angle position (˚) = (ival - 2214)/2214*180 + 180