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I've hear that the SRX have 'built-in' PID controllers. Is this true?
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Yes.
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And if so, do I still need to include PID in our labVIEW programming?
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No. But you do need to do the following:
- connect the feedback sensor directly to the Talon (not the roboRIO)
- use CAN bus (not PWM) to control the Talon
- use the appropriate CAN commands to tell Talon what closed-loop mode you want (e.g. position or speed etc)
- use the appropriate CAN commands to set the gains in the Talon's PID controller.
- use the appropriate CAN commands to communicate the desired setpoint to the Talon's PID so it knows what value you want it to control to.