Thread: Talons, Jaguars and Victors - where do you stand?
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Unread 11-04-2013, 09:38
omalleyj omalleyj is offline
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Re: Talons, Jaguars and Victors - where do you stand?
Quote:
Originally Posted by apalrd View Post
Interesting.

I assumed that since Mike Copioli said the Talon would accept a PWM to something around 3ms that it was set in the WPIlib to 5.05ms (1 DIO loop frequency)

I set ours to 1 DIO loop frequency (5.05ms) and have no issues, not even with practice bot Victors using the Talon output scaling and pulse period of 5.05ms. I'm not entirely sure why the output frequency was ever set to 2 DIO loops (10.1ms) to begin with, or why the DIO loop is 5.05ms instead of 5ms or something even faster.
I am going from memory, I don't have the WPILibJ in front of me, but as I recall there were notes on the PWM class about compatability across all PWM devices (servos as well as motor controllers). The 5.05 results from a base rate in microseconds in the 6us range, times 770 or so. The particular devices get a multiplier of the 5.05ms and Victors and Talons were 2x (10.1ms) and Jags 1x. This is in the latest update of the Java libraries, but again its from memory, so check the PWM class to be sure.

In keeping with the original question: We used 8 talons and 2 jaguars. The jags were applied where we wanted HW limit switches.

We have did lose one talon during the season, the one controlling the front wheel of our shooter.