Quote:
Originally Posted by s_forbes
The gist I get from the programming team is that the Talon SRXs only feedback velocity information from the encoders on a 100ms timeframe, so making a control loop respond to multiple balls per second is extremely difficult with that route. Running the encoder into the digital I/O ports on the rio lets you make your own control system that is more responsive.
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If you use the built in pidf control on the talons themselves, your motor loop runs really fast. This is probably a better route than running it on your roborio. The software manual for the talons also suggests that you can change this 100ms can bus encoder update rate to be faster (can be set to 20ms), but you shouldn't need to use this at all. My recommendation is to add more mass on to your flywheel, and experiment with a feed forward gain term if you are using talonSRXs.