Talon SRX question

[phargo#1018]

Last year, we used two CIMs on a toughbox with a single encoder. the CIMs were driven by Jaguars, where the Jaguar PWM inputs were wyed between the digital sidecar and the Jaguars; motor rate loops closed in the cRio.

If we were to attempt to have local loops inteh Talon SRX, the encoder would connect to one Talon and that Talon would close (I am assuming) the rate loop about one CIM.

With the second Talon in follower mode, would the first Talon relay the Voltage command set-point to the second Talon? Or does this require dual encoders on the gearbox??