We also have an example that might help....
https://github.com/CrossTheRoadElec/...bot/Robot.java
... basically slave the fifth and sixth talon outside of RobotDrive to the appropriate talons inside RobotDrive.
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PWM is easier to work with in my opinion.
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I argue CANTalon is easier than PWM. If a CANTalon misbehaves you can use the web-based config to determine why - without adding telemetry to your robot code.
A PWM motor controller will provide little feedback as to why it's not doing what you want.