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Re: Using Talon Sr
What you'll need to do is wire the encoders to the RoboRIO (or your preferred alternate controller) and have the RoboRIO read their data, then make whatever adjustments need to be made to the output to the Talons. As noted, the older Talons don't have CAN, so you'll be using PWM outputs for that.
Basically... you'll be doing it just about the same way as if you were using Spark controllers.
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Past teams:
2003-2007: FRC0330 BeachBots
2008: FRC1135 Shmoebotics
2012: FRC4046 Schroedinger's Dragons
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