Vex motor / encoder usage
OK, now I have yet another question.
Does RobotC plan to support the Vex motor shaft encoders using the RobotC motor PID routines?
That is, if I connect a Vex optical shaft encoder to the output of a Vex motor, is there a way for me to have RobotC handle the motor speed control via it's PID routines?
I have my doubts here as the Vex optical shaft encoders are not quadrature based and I am at a loss how to setup a good PID routine for them. Without quadrature encoding you cannot tell which direction a motor is turning. While you do know which way you programmed it to go, you don't really know if it has changed directions yet nor if it is being forced backward by external forces.
Any input here would be appreciated. I bought a bunch of optical shaft encoders a while ago and am finding them pretty useless in any situation where the axle reverses direction at this point.