Talon SRX and Analog Encoders

[Ether]

I've hear that the SRX have 'built-in' PID controllers. Is this true?

Yes.

And if so, do I still need to include PID in our labVIEW programming?

No. But you do need to do the following:

- connect the feedback sensor directly to the Talon (not the roboRIO)

- use CAN bus (not PWM) to control the Talon

- use the appropriate CAN commands to tell Talon what closed-loop mode you want (e.g. position or speed etc)

- use the appropriate CAN commands to set the gains in the Talon's PID controller.

- use the appropriate CAN commands to communicate the desired setpoint to the Talon's PID so it knows what value you want it to control to.