Talon SRX Swerve Control

[ozrien]

Cool so the Talon SRX, and sensor are working as expected.

So if you want to do servo to the closest degree, what I'd recommend is taking a look at the google sheet below. Basically the strategy is to input the current sensor position (could be anything) and the target-desired angle (expressed in sensor units from 0 to 1023). The output is the final full position to send to the Talon to servo to. The middle columns will calc the distance to the target in both directions, and then chooses the smaller distance. Looks like this is what's attempted in your VI, but it's hard to follow because there is a lot going on.

hah, Levi you emailed me the same question so I guess this post is redundant, but figured posting this on CD helps everybody.

Zebracorn's (FRC900) followed this strategy last year and it seemed to work well. For anyone interested in looking at an LV implementation I would check out their github (2015 FRC code base).

Google sheet. Make a copy into your google drive or download as excel so you can edit.
https://docs.google.com/spreadsheets...it?usp=sharing