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Re: PID + Battery Voltage + Talon=??????
I think that example shows how to set a motor's position based on the feedback from a potentiometer connected to a mechanism that turns with the motor (perhaps with some gear or sprocket reduction in the mix).
If you instead want to do velocity control, you'll need some sort of counter or encoder connected to the motor shaft so you can read its speed.
Why do you care about battery voltage?
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