Talon SRX PWM vs encoders

[ultradan]

Hello from 3550 !
We will use the new Talon SRX c/w PWM controls and we want to use the quadratic encoders E4T directly on the talon. The programmers wants to know if they will have access to the encoders datas with the software thru the PWM.

Electrically we know how to connect the sensor to the data port...but how to handle the datas ( and reset, etc...).
In the Talon SRX software manual. it says all about programming but is it only when used in CAN connection mode?

thanks,

[cgmv123]

Closed-loop control is only available when using the CAN bus.

[JCharlton]

If you're using PWM for the Talon you're probably better off using the RoboRio for PID control. However, using the Talons via CAN is dead easy, and the internal PID control isn't too difficult to implement and works well.

PM me and I can come to Cavelier to help out if you like.

[ozrien]

Hey ultradan,
The functions and examples in the Talon SRX Software Reference Manual assume the sensor is connected to the Talon. This applies to the closed-looping features, and the various getters/setters.

Is there a specific reason you are using PWM?

If the goal is to connect the sensor to the Talon directly, then wiring the Talon the the RIO CAN port is required.

[ultradan]

Thanks all for your advise.We'll give a try tonight for the CAN bus & encoders on our demoplateform. JC: thanks for the proposal - I'll be at Cavelier tuesdays PM after 5PM and some thursday PM.

[garyk]

Hey - 668 is looking for an example of CAN Talon internal PIDs with an encoder on the Talon itself. We (and other teams I'm sure) would like to hear of your results. Thanks!