Thread: Using Talon Sr
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Unread 26-09-2016, 14:10
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Re: Using Talon Sr

If the question is how to wire CAN when you have no CAN motor controllers, it's pretty simple:
If you're using the PCM,
wire roboRIO to PCM to PDP, with CAN jumper on the PDP in the ON position.
else
wire roboRIO to PDP, again with CAN jumper in the ON position.

In both cases, orange to orange and green to green for each leg. Twist the orange and green wires around each other to cut down on RF radiation.


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The motor controllers will need PWM cables, available pre-fab from AndyMark or other places, but they're essentially a 3-wire ribbon cable with a male Dupont (0.1" header) connector at one end and female Dupont at the other end. The traditional coloring is black/red/white, as the ground is at one end, voltage in the middle, and signal at the other end. The roboRIO and motor controller PWM ports have indications as to which end should have the ground or black wire.

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Encoders will have to connect back to the DIO ports. Quadrature encoders will require two ports each. Search CD for the specific encoder model you are using to figure out the details of this wiring.
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