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Re: PID functionality on the Talon SRX?
Also, as you do this, you may want to rethink the placement of the motor controller. If you aren't using encoders at all, or are connecting them to the 'RIO, you'll usually want the motor controller to be on the control board to minimize the number of wires being run out to the motors. With the encoder wires going to the Talon, you may want to move it out closer to the motor and sensor. The combined powered wire run (PDP to Talon to motor) is the main run you want to keep short to reduce resistance losses. Reducing the length of sensor and CAN wires is secondary.
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