Inverting Talon SRX

[King Nerd III]

Originally Posted by Alan Anderson

I don't see that method in the non-CAN Jaguar or Talon headers either. I'm pretty sure that's because it's a RobotDrive function. Are you able to get a random_motor->SetInvertedMotor(true); to compile when random_motor is a Talon SR, as your original post implies?

I should stop being subtle. It isn't working.

Nah, that doesn't work either. I agree that it is probably a robot drive thing, which won't help with an elevator.

[wireties]

And like Omar said this is all internal to the Talon - when it is green it is looking for the "forward" limit no matter the software convention.

[King Nerd III]

Originally Posted by wireties

And like Omar said this is all internal to the Talon - when it is green it is looking for the "forward" limit no matter the software convention.

That kind of sucks, now we have to unsolder and all that. The last time we soldered was a nightmare, I don't want to go through that again!

We'll do it, though. For the team!

[wireties]

Originally Posted by King Nerd III

That kind of sucks, now we have to unsolder and all that. The last time we soldered was a nightmare, I don't want to go through that again!

We'll do it, though. For the team!

Use connectors for all sensors and motors so they can be removed/replaced easily. It makes repairs (especially under stress) much easier.

[King Nerd III]

Originally Posted by wireties

Use connectors for all sensors and motors so they can be removed/replaced easily. It makes repairs (especially under stress) much easier.

We're using an encoder breakout board so it has to be soldered, we don't want to risk it coming apart. But we did this:

[board]~~wire~~[pwm connector][pwm connector]~~wire~~[sensor]

It works well enough!

[wireties]

Originally Posted by King Nerd III

We're using an encoder breakout board so it has to be soldered, we don't want to risk it coming apart. But we did this:

[board]~~wire~~[pwm connector][pwm connector]~~wire~~[sensor]

It works well enough!

So just reconnecting the PWM-PWM interfaces for the 2 sensors should fix things?

[King Nerd III]

Originally Posted by wireties

So just reconnecting the PWM-PWM interfaces for the 2 sensors should fix things?

For one set, yes. I wish we had done both at the same time, one of the pairs is soldered directly to the board seeing as it is within 7 inches of the electronics.
We had a snow day today so no robotics, but on Saturday I should be able to rewire the entire thing.

[GeeTwo]

Originally Posted by wireties

So just reconnecting the PWM-PWM interfaces for the 2 sensors should fix things?

If one cable goes to the upper, and the other goes to the lower, yes, swapping those PWMs should electrically move the limit switches to the proper location.

[jhersh]

Originally Posted by wireties

And like Omar said this is all internal to the Talon - when it is green it is looking for the "forward" limit no matter the software convention.

Is it really that important that forward be up!? I get that it's a little more straightforward, but if you reverse the output and make the top "red" and the bottom "green" then you don't need to rewire, right? You were wanting a software workaround, so a slight inconvenience of needing to invert a number seems reasonable.

[Ether]

Originally Posted by ozrien

You will need to fix it in the wiring. If the Talon is green (positive throttle) it will only check the forward limit switch. What causes the Talon to be green (closed-loop, slaving, slave-invert) instead of red (Reverse) can be controlled by Reverse Sensor and Reverse Closed-Loop output. But the limit switch is compared against the final output.

Originally Posted by jhersh

Is it really that important that forward be up!? I get that it's a little more straightforward, but if you reverse the output and make the top "red" and the bottom "green" then you don't need to rewire, right? You were wanting a software workaround, so a slight inconvenience of needing to invert a number seems reasonable.

Hey Joe, Omar: Are you guys saying different things? Or am I missing something subtle (or obvious?) .

[jhersh]

Originally Posted by Ether

Hey Joe, Omar: Are you guys saying different things? Or am I missing something subtle (or obvious?) .

I can't speak for Omar, but I'll guess he meant what he said, assuming that the team wanted the polarity of the control values to remain unchanged. My assertion assumed that polarity is a rational trade off to rewiring.

[FrankJ]

I think what Omar is saying (not to put words in his mouth ) is the limit switches work directly on the output of the controller which there is no reversing. IE the green & red leds relates to the polarity of the output.

Hopefully Omar will confirm or correct this.