Talon SRX Encoder Breakout

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Originally Posted by Thad House

Also, because you can get the raw encoder values at any time, you can plug the encoder into the talon, then still do the PID calculation on the roboRIO. This has some interesting use cases, and could both simplify wiring, and require less IO's to be used for encoders.

From a controls standpoint, I wouldn't recommend this for most cases. There will be an increased time delay between getting the encoder value from the Talon to the RIO and sending back the new control command. If you're going to use processing on the RIO, it's better to have the encoder wired to the RIO and use PWM. This is all to maintain the minimum possible time lag in the system.