Why Can We Not Use CIM motors with Relays? (R52)

[cgmv123]

Just to show how easy it is, here's Java (and maybe C++, I don't know) code to turn a Victor object victor into a relay based on Joystick object joystick buttons 8 for forward and 7 for reverse (the left buttons on the base of the Attack 3).

if (joystick.getRawButton(8))
    {victor.set(1.0);}
else if (joystick.getRawButton(7))
    {victor.set(-1.0);}
else
    {victor.set(0.0);}

I'm at home, so I haven't tested this code, but it should be enough to get you started.

Since you're still using a speed controller, you can have it ramp up over a period of time, so you don't have as much of a current rush. You can also have your rate be less than full, or even different rates between forward and backward.