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Unread 29-03-2016, 22:25
GRSICP GRSICP is offline
Greta Rauch
FRC #5822 (WolfByte)
Team Role: Programmer
 
Join Date: Oct 2015
Rookie Year: 2010
Location: Chicago
Posts: 18
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Re: TalonSRX encoder confusion java

I don't know the answer to the questions about the limits as I have not used them yet. However, I can help with getting the Talon to a certain position.

Here is an example of initialization of a Talon:
Code:
armR = new CANTalon(1); 
armR.setFeedbackDevice(FeedbackDevice.QuadEncoder); //Set the feedback device that is hooked up to the talon
armR.setPID(0.2, 0.001, 100, 0.00, 360, 12, 0); //Set the PID constants (p, i, d), you will need to do some tweaking to get these right
Here is the code needed to get the arm to a certain location:
Code:
armR.changeControlMode(TalonControlMode.Position); //Change control mode of talon, default is PercentVbus (-1.0 to 1.0)
armR.set(height); //height is the value you are looking to move to
armR.reverseSensor(true); 
armR.enableControl(); //Enable PID control on the talon
A note on the reverse sensor line: in our case, the reading from the QuadEncoder was negative so we needed to both feed .set a negative value and use the reverseSensor method.

In terms of setting it to 0, here is the code we use:
Code:
talonName.setPosition(0);
I hope this helps!