Programming, Controls & SensorsModule 5 of 13

Sensing Fundamentals: Digital, Analog, and CAN Inputs

Before control, comes sensing. This module covers the three ways sensors talk to a roboRIO and the simple but essential sensors built on them: limit switches, beam breaks, distance sensors, and current sensing.

Sensing Fundamentals: Digital, Analog, and CAN Inputs is module 5 of 13 in the Programming, Controls & Sensors guide. It picks up where Autonomous: Odometry, Trajectories, and Simulation left off and hands over to Encoders: Measuring Position and Velocity. Its 3 lessons are about 85 minutes of the guide's ~30 hours.

3 lessons~85 min51 lessons in this guide

Start with lesson 1 All of Programming, Controls & Sensors

In this module

3 lessons

01How Sensors Talk to the roboRIO: DIO, Analog, and CANAn overview of the three physical interfaces FRC sensors use and the trade-offs of each.25 min read

02Limit Switches and Beam BreaksSimple digital sensors that tell you when a mechanism reaches a hard stop or when a game piece is present.30 min read

03Distance Sensors and Current SensingMeasuring how far away something is, and using motor current as a sensor in its own right.30 min read

Previous moduleAutonomous: Odometry, Trajectories, and Simulation

Next moduleEncoders: Measuring Position and Velocity

Jargon check

FRC terms used in Sensing Fundamentals: Digital, Analog, and CAN Inputs

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

All 13 modules in Programming, Controls & Sensors

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