Programming, Controls & SensorsModule 6 of 13

Encoders: Measuring Position and Velocity

Encoders are the most important sensors for feedback control. This module covers how quadrature, absolute, and integrated encoders work and the specific products you will use.

Encoders: Measuring Position and Velocity is module 6 of 13 in the Programming, Controls & Sensors guide. It picks up where Sensing Fundamentals: Digital, Analog, and CAN Inputs left off and hands over to Gyros, IMUs, and Orientation. Its 3 lessons are about 90 minutes of the guide's ~30 hours.

3 lessons~90 min51 lessons in this guide

Start with lesson 1 All of Programming, Controls & Sensors

In this module

3 lessons

01Quadrature Encoders and How They WorkThe foundational incremental encoder type, how it senses direction and counts, and what CPR/PPR mean.30 min read

02Absolute Encoders: Duty-Cycle, Analog, and the REV Through BoreEncoders that know their angle the instant they power on, and why that matters for arms and swerve.30 min read

03Integrated and CAN Encoders: NEO, Falcon/Kraken, and CANcoderThe encoders built into modern brushless motors and the CTRE CANcoder, plus sensor fusion in firmware.30 min read

Previous moduleSensing Fundamentals: Digital, Analog, and CAN Inputs

Next moduleGyros, IMUs, and Orientation

Jargon check

FRC terms used in Encoders: Measuring Position and Velocity

CAN busController Area Network — the wiring/protocol that lets motor controllers, sensors, and the roboRIO communicate on one daisy-chained bus.

Longer reads

Articles that go deeper on this

FRC Sensors Explained: Encoders, Gyros, Beam Breaks, and Limit SwitchesA practical FRC guide to encoders (quadrature, absolute, CANcoder, through-bore), gyros (NavX2, Pigeon 2.0), limit switches, beam breaks, and current sensing.17 min read

REV Robotics for FRC: NEO Motors, Spark MAX/Flex, PDH & MAXSwerveA practical guide to the REV Robotics FRC ecosystem: NEO, NEO Vortex and NEO 550 motors, Spark MAX and Spark Flex controllers, the PDH, and MAXSwerve.20 min read

All 13 modules in Programming, Controls & Sensors

Department overview