Quote:
Originally Posted by thatprogrammer
Thanks for the replies.
Few more questions.
1. How much smaller/larger than your shafts/stock is the tubing you get from mcmaster to ensure a super snug fit? (NOT a code question, I know  )
2. Any reason you chose not to use CAN control for your motors?
3. Did you ever figure out the timing issues java had? |
#1 I can't help with...
#2, the CAN-enabled Talon SRX was new to FRC this season, so we decided to stick with tried-and-true PWM in case there were teething problems. As it turned out, the CAN Talon works great, and I'd say there's a good chance we use them next year.
#3, yeah. The WPIlib JAR we used was tweaked to enable interrupts and the hardware timer to work correctly in Java (basically we just finished some incomplete JNI work). The source of the modified JAR is in the lib directory. Garbage collection and the JVM still mean that we aren't quite as reliable as a RT C++ thread would be, but it is pretty stable with our changes.