Thread: Talon SRX position control
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Unread 12-02-2015, 15:37
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Omar Zrien
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Re: Talon SRX position control
It sounds like you are asking about selecting the various settings (control mode, PIDF values, set point) in Begin vs in the various loops (teleop/auton).

Either is sufficient and you have a doubt just grab the Self-Test (section 2.4 - Talon SRX software reference manual) and confirm the mode, gains, SelectedProfile, sensor position, closedLoopEr, and set point). You can calculate the set point by (ClosedLoopErr + SensorPos[orVelocity] ).

Obviously you will want to MOTOR SET OUT periodically since you will change your set point in your robot application.

Most of these settings are not applied until you enable your robot (see section 16.2) and will not report in the webdash, so enable the robot before checking.