Quote:
Originally Posted by Kevin Sevcik
Note that if you're planning on using the Talon SRX to run your control loop, it has a fixed definition of quadrature counts per 100ms as the velocity definition. And it actually runs the control loop at 1kHz. I'm not entirely certain how they bridge that gap, though.
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We're using the Armabot RS7 encoder (advertised "12 CPR") with the Talon SRX. In our Java code, we called the method "talon.setEncoderCodesPerRev" to be 1/4th of the CPR (so....3

) in order for the velocity to be true (we tested with a tachometer. After you set that number, you can use "talon.set(rpm)" to have the motor run at that RPM without any other math.