Quote:
Originally Posted by nighterfighter
Even if you wanted to use more than 5 or 6 encoders, without expanding the DIO ports on the roboRIO, the Jaguars DO have a built-in interface for encoders, that are accessible via CAN. (The Talons might have them also, you'll have to look that up).
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Talons. Talons, Talons, Talons. The encoder input on the Jags is nearly useless. It won't give you feedback unless you're actually using a closed-loop control mode. And its closed loop controls aren't all that great. And you can only use one encoder and one Jag to drive one motor, unless you're doing something to split the encoder signal, because there's no way to slave on Jag to another. Talons on the other hand give you a constant feedback stream of both velocity and position, so you could put the PID on your roboRIO, or use the PID on the Talon. And if you're in velocity mode, you can still get position feedback for all your autonomous needs.
The highest seeded alliance is always placed in the red zone by the computer. In fact, its a great communist conspiracy to mold the mind of teenagers into equating Reds with winners. - Btower [more] 
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