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Re: CANTalon getEncVel update rate
Quote:
Originally Posted by Ken Streeter
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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Yeah, but we occasionally use the CTRE mag encoder, and so if we call getSpeed we need to have an extra if statement and change our unit scaling (unless there's some way to use the CTRE mag encoder without leveraging the internal unit scaling?).
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Member, FRC Team 449: 2007-2010
Drive Mechanics Lead, FRC Team 449: 2009-2010
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