CPR diameter circumference position revolutions angle angleNormalized distance runOpMode This function is executed when this Op Mode is selected from the Driver Station. ArmMotorAsDcMotor Mode {"IDENTIFIER":"Arm Motor"} STOP_AND_RESET_ENCODER ArmMotorAsDcMotor Mode {"IDENTIFIER":"Arm Motor"} RUN_WITHOUT_ENCODER WHILE Your Counts Per Revolution Here CPR 0 Replace with your wheel/spool's diameter diameter 1 circumference MULTIPLY 1 PI 1 diameter Get the current position of the motor position ArmMotorAsDcMotor CurrentPosition {"IDENTIFIER":"Arm Motor"} revolutions DIVIDE 1 position 1 CPR angle MULTIPLY 1 revolutions 360 angleNormalized 64 angle 360 distance MULTIPLY 1 circumference 1 revolutions Show the position of the motor on telemetry Encoder Position 123 position Encoder Revolutions 123 revolutions Encoder Angle (Degrees) 123 angle Encoder Angle - Normalized (Degrees) 123 angleNormalized Linear Distance 123 distance