[JesseK]

The only con I have comes from having to manage your code in two different places. Your PID tuning/etc comes from the Talon web interface, and the logic code comes from the robot code. Your robot code has to perform all boundary and logic checking prior to sending the desired position value to the SRX.

We have a filter for "maximum speed" on each mechanism as a safety when new kids are learning PID, and that filter is the last line of defense when things go awry.

Even with that said, this year we're putting sensors directly on the SRX's because we're attempting two things we've never done before: a double-jointed arm and a turret. Both are easily coded and tuned while physically off of the robot though.