Quote:
Originally Posted by Ari423
Maybe someone can explain, I never understood the benefit of using PID through the talons (or jags). You have the downside of not being able to see the encoder data on the roboRIO, but what is the upside?
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With the Talons, you get PID built in. It can run in a tight closed loop, possibly faster than you can with the RoboRIO if you're doing a lot of processing on it. Also, it's harder to get the timing right on the roborio than on the talon which serves as a dedicated processor - along the same lines, it's harder to count all of the encoder ticks, especially if you're using a high tick encoder.
Also, as it turns out, you *can* get the encoder (sensor) data back from the Talon(SRX), in either 20 ms or 100 ms intervals by default. The 100ms intervals will stay (in a different control frame), but you can customize the 20ms interval for the sensor frame.
In short, I think it's just easier to get up and running with that if you're not in the mood to spend hours and hours testing timing code and don't really care to do super advanced control loops.