PID (proportionalintegralderivative) controller is a control loop mechanism employing feedback that is widely used in industrial control systems and a variety of other applications requiring continuously modulated control. This protects everything, controls ambient light, and keeps dust and gunk out of the whole thing. We are implementing a simple PID controller (technically, this is only a P controller). One way to get PID control might be to increase the number of sensors from 3 to 9. Next, we just need to put the cap on the encoder. I dont know if this helps or not but is the scheme I use in RobotC. Now the disc is at the optimal spacing for the encoder to work. Use the tool to push down the optical disc until the black plastic touches the clips on the encoder base. This is where the small, black, plastic disc that comes in the encoder pack is so useful. NOTE: it is important not to strip or round out the heads of the screws, these can be reused if the motor burns out! Now that the base is secured, carefully and without touching the flat parts, push the silver disc onto the shaft, black side towards the rest of the encoder. There should be two small screws in the pack use a small philips head screwdriver to carefully attach the encoder base to the motor. Robotics Vex Vrc Robotc Projects (3) Cpp Vex Tower Takeover Projects (3) C Vex Starstruck Projects (3) Vex Starstruck Projects (3) Vex Scouting Projects (3) C Robotics Vex Pros Projects (3) Autonomous Vex Projects (3). Take the one that is flanged with screw holes and insert it onto the motor shaft. The encoder should come in several pieces. ROBOTC must have a connection with the robot for the Sensor Debug Window to work. A selection of articles where I discuss common problems, questions I am asked, and general tips. So to begin, we just need the motor and the encoder pack. All of my documents and guides for robotics - The Beginners Guide to ROBOTC, An Introduction to PID Controllers, and more.