Using Encoders with TalonSRX

[ozrien]

How well this would have worked, we won't know, because the CANTalon in C++ doesn't have the methods necessary to reverse...

...section 7.2 of the Talon SRX software reference manual.

2) Since you're in Java, you have the call to reverse the control input. You'll know you need to do this if you're telling the motor to spin at 0.50 speed and the encoder says it's doing a negative turn rate (and vice versa). A good way to see that your encoder is working and the direction values it's giving you is by using the RoboRio's web page, selecting your CANTalonSRX and clicking SelfTest while it's operating. Anyway, the CANTalon method to reverse the sign is called "reverseSensor()"

...section 7.4 of the Talon SRX software reference manual.