Using PID on Talon SRX with Gyro for feedback

[GeeTwo]

(Emphasis mine)

Originally Posted by tdbroun

We are looking at off season activities and wanted to explore using the Talon SRX controller's internal PID capabilities on our drive system to drive both to a fixed distance (using a quadrature encoder) and in a straight line (using a gyro).

Originally Posted by Ether

.. separate left/right closed-loop distance controllers.
.. separate left/right closed-loop orientation controllers.

Sum the left (and right) distance and orientation controller outputs and use that sum as the command for the left (and right) wheels.

Ether, I think you missed the word "internal", unless you were thinking about four separate talons and four separate motors and "summing" the results in a couple of gearboxes.

[Ether]

Originally Posted by GeeTwo

Ether, I think you missed the word "internal"

I should have been clearer. I was suggesting an approach different from what the OP was considering. Thanks for the clarification.

[Jared Russell]

For single-input, single-output control, I think the Talon SRX is a good candidate to do all of the work for you.

For multi-input, multi-output control, you are better off having a high level controller running on the RoboRIO that sends lower level commands to the Talons.