Quote:
Originally Posted by adciv
From a controls standpoint, I wouldn't recommend this for most cases. There will be an increased time delay between getting the encoder value from the Talon to the RIO and sending back the new control command. If you're going to use processing on the RIO, it's better to have the encoder wired to the RIO and use PWM. This is all to maintain the minimum possible time lag in the system.
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Even if running 10ms loops on the RoboRIO, you will be at max 10ms behind the actual sensor. Thats not that much, and just like ozrien said above, we can speed up the controls to lower that to even less. I don't believe latency across the CAN line would account to more then 1ms, which is negligible.
Quote:
Originally Posted by ozrien
The Talon SRX reports the sensor position and sensor velocity every 20ms. The control frame to the Talon is sent every 10ms.
If you are using C++/Java you can change these time periods. If you do this be sure to check the CAN metrics in the DS tab.
See sections 20.5 and 20.7 in the Talon SRX Software Reference Manual for details. Also section 15 for measuring CAN performance.
"Talon SRX Software Reference Manual 2014-12-26 (.pdf)"
http://www.crosstheroadelectronics.c...ol_system.html |
Is there any timeline for when that functionality will be added to LabVIEW? That could be something good to have.
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Teams 1510 and 2898 - Student 2010-2012
Team 4488 - Mentor 2013-2016
Co-developer of
RobotDotNet, a .NET port of the WPILib.