PID functionality on the Talon SRX?

[Chris_Elston]

Originally Posted by asid61

So are you implementing special code (state logic) on the RIO, or is that entire movement all programmed into the Talon?

You write all your State Logic in the RIO.

Basically something like this...Let's use the video as reference:

State 1
Grip CAN

State 2
Send Position to Talon SRX = 10,000 counts or "30 inches".

State 3
Retract Drawer

State 4
Send Position to Talon SRX = 9,000 counts or "28 inches".

State 5
Ungrip CAN

etc...

Basically, at those states, you use the Talon SRX library to send position values to the Talon SRX over CAN BUS. It's really easy. Prior to sending commands, you need to TUNE your mechanical system until it's stable, then you can just issue commands or presets to the Talon SRX after that.

The manual referenced above already, is the bible to the Talon SRX library.