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Ken Streeter Ken Streeter is offline
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FRC #1519 (Mechanical Mayhem)
Team Role: Engineer
 
Join Date: Feb 2005
Rookie Year: 2005
Location: Team: Milford, NH; Me: Bedford, NH
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Re: CANTalon getEncVel update rate

Quote:
Originally Posted by Oblarg View Post
We generally don't like to use getSpeed, because we try to avoid using the Talon's internal unit scaling whenever possible (we like our units in RPS, not RPM, and it is easier just to make sure every function we call gives us native units and scale them ourselves).
I'm a fan of using all native units, too. getSpeed() continues to report in nativeUnits if one simply never calls "ConfigEncoderCodesPerRev()"

We intentionally do not call ConfigEncoderCodesPerRev() so that we receive sensor positions and velocities in native units, as described in the table in section 17.2.1.
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Ken Streeter - Team 1519 - Mechanical Mayhem (Milford Area Youth Homeschoolers Enriching Minds)
2015 NE District Winners with 195 & 2067, 125 & 1786, 230 & 4908, and 95 & 1307
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