Question about CanTalonSRX.h

[PaolaHenriquez]

Our robot uses TalonSRX's in a CAN configuration. We want to add these objects to RobotDrive. However, RobotDrive only accepts SpeedController objects and channel numbers as uint32_t. CanTalonSRX does not extend from SpeedController so it's impossible for us to use CAN TalonSRX's for our DriveTrain because we can't program it. I was wondering why this is the case and how to pass CanTalonSRX objects into RobotDrive.

[ozrien]

Use the CANTalon class, it implements CANSpeedController.
Please read section 3.4 in the Talon SRX Software Reference Manual.

[Joe Ross]

CANTalonSRX is a low level class. CANTalon is what you're looking for. It extends CANSpeedController which extends SpeedController.

[PaolaHenriquez]

Thanks!