Cabling between Talon SRX and VersaPlanetary Integrated Encoder

[Ken Streeter]

We're huge fans of using an encoder on nearly every motor on the robot. Last year, we used the TalonSRX with an encoder wired directly to the TalonSRX for all our PID control loops (velocity control PID for each of the four mecanum drive wheels, and position control for each of our two elevators).

We've also been fans of the BaneBots planetary P60 gearboxes, having used them successfully for many years (after learning their foibles.)

This year, though, we're considering switching to VersaPlanetaries, in order to take advantage of the COTS VersaPlanetary Encoder solution - http://www.vexrobotics.com/217-5046.html

However, one of the tricky things on the TalonSRX and the CTR encoder is the use of the fragile little TalonSRX Data Cable. ( http://www.vexrobotics.com/217-4358.html or http://www.andymark.com/product-p/am-2617.htm ) Tools to make them aren't something we have. Last year, in order to connect to USDigital encoders, we cut one end off the TalonSRX data cables and in-line spliced to the cable needed for the US Digital encoder.

Switching to the VersaPlanetary Integrated Encoder, though, would let us use a stock cable at both ends. However, we haven't seen a source for these of longer than 12" in length. Is there an electrical issue with having these cables be much longer than that?

We'd like to put a VersaPlanetary with an encoder at the end of an arm which reaches outside the robot perimeter. In prior years, we would have run an encoder wire all the way back along the arm to the RIO to connect the encoder directly to the RIO via long wires. However, with the VersaPlanetary encoder that would require a very long (say 4' to 6') TalonSRX Data Cable. Alternatively, we could put the TalonSRX out on the end of the arm, but that's unattractive from a weight perspective, as well as meaning that our CANbus goes out on the arm, where if the CANbus wiring gets disturbed, the whole robot becomes a brick.

Any suggestions? Anybody know of a source for long TalonSRX Data Cables?

Thanks,
--ken