Absolute Sensor Discontinuity Simulator

This interactive tool helps you understand and visualize how absolute encoder discontinuity points work in FRC robotics, specifically following the CTRE sensor discontinuity pattern.

What is Sensor Discontinuity?

When using absolute rotational sensors (like CANcoders), the sensor output wraps around at a configured "discontinuity point". This tool lets you explore:

• Physical Turret - The actual mechanical rotation (0-360°)
• Hard Stop - The mechanical constraint region where the turret cannot rotate
• Wrap Point - The software discontinuity where sensor readings "jump" from 1.0 to 0.0
• Safety Check - Whether your wrap point is safely inside the hard stop

How to Use

1. Drag the blue dot on the Physical Turret to rotate the sensor manually
2. Adjust the Discontinuity slider to move where the sensor wraps around
3. Watch the Software Output graph to see how the sensor value changes
4. Aim for SAFE - The red dashed line (wrap point) should be inside the grey hard stop zone