Chief Delphi - Talon SRX Encoder Breakout

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Chief Delphi (http://www.chiefdelphi.com/forums/index.php)

- Electrical (http://www.chiefdelphi.com/forums/forumdisplay.php?f=53)

- - Talon SRX Encoder Breakout (http://www.chiefdelphi.com/forums/showthread.php?t=132643)

nixiebunny

14-01-2015 02:10

Re: Talon SRX Encoder Breakout

We just got 10 Talon SRXs in the mail. I had to take one of them apart. It has the requisite 4 MOSFETs and a PIC dsp33EP128 something.

As far as closing a PID loop via the roboRIO, why bother if you can do it in the Talon itself? Latency is key to good PID behavior. Letting the Talon do the work is the logical method.

SoftwareBug2.0

14-01-2015 03:18

Re: Talon SRX Encoder Breakout

Quote:

Originally Posted by Foster (Post 1426840)

Are the drive trains / actuators that sensitive to need higher update rates?

Or is this just a case of faster is always better?

Faster updates may allow not only "slightly better" results from a control system, but actually allow different algorithms to be used. For example, it might allow you to switch from PID to bang bang.

In 2013 there were a lot of shooters that had a CIM turning a single small wheel. This is basically the formula for having a twitchy system - a lot of power and little momentum. I bet a lot of those would have benefitted from faster updates.

cbale2000

14-01-2015 04:17

Re: Talon SRX Encoder Breakout

Out of curiosity, does using the Talons to handle the encoders and PID free up processing power on the roboRIO or is it still dependent on the control system?

richwong

14-01-2015 08:04

Re: Talon SRX Encoder Breakout

Quote:

Originally Posted by cbale2000 (Post 1427994)

Out of curiosity, does using the Talons to handle the encoders and PID free up processing power on the roboRIO or is it still dependent on the control system?

It frees up the roboRIO.

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