Programming instructions

Reference
Project Lead The Way © and Carnegie Mellon Robotics Academy © / For use with VEX
®
Robotics Systems
Shaft Encoders • 3
The Quadrature Shaft Encoder is also fully supported by ROBOTC for IFI (v. 1.40 and
up). Use the following instructions and the wiring conguration on the previous page to
correctly congure them within ROBOTC.
Robot > Motors and Sensors Setup
Open the Motors and Sensors Setup
window.
Sensor Conguration
Select A/D Sensors 1-8.
Type “rightEncoder” next
to in2, set its type as a
Quadrature Encoder, and
its second port as in5.
Type “leftEncoder” next
to in3, set its type as a
Quadrature Encoder, and
set its second port as in6.
Press “OK” to complete
the conguration.
Shaft Encoders ROBOTC Setup
Note: The Quadrature Encoders can be
plugged into any of the Analog / Digital
Ports (in1 through in16) and Interrupt
Ports int3 through int6. However, if your
robot is being congured with analog
sensors (Potentiometer, Reection, Light)
as well, the Encoders must be plugged
into higher port numbers for them to
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