Using Encoders with TalonSRX

[ozrien]

Originally Posted by Chaube97

I figured out that the set() values in speed mode go from 0 to 1000. Everything works now. Thank you so much for your help!

Well...wait....it sets the target speed in pos per 100ms, which can be negative (reverse) and can be larger than 1000.

So do you see how in section 17.1 (Talon SRX software reference manual) the example math for a CPR=360 quadrature encoder calculates a speed of 28800 for 20 rotations per second (or RPM=1200)? So set(28800) would servo a velocity of 1200RPM in the positive direction IF using a quad encoder (that's CPR=360).

Make sense?