pros/cons of wiring sensors to can talon srx

[kylelanman]

One pro for us last year that we implemented mid season was wiring our limit switches for hard stops directly to the Talons.

Twice during the season we had our robot start turning on all the motors randomly in the middle of a match (possibly dead lock) One time a mechanism was damaged a bit because it didn't stop at the hard stop due to the limit switch not being checked. After this we wired the switch directly into the Talon. The next time the robot code crashed/locked up the mechanism still stopped properly when it hit the limit switch and didn't over run the hard stop.

From that experience we basically decided that limit switches for mechanisms that absolutely can not over run their hard stops will be directly wired to Talons to provide an extra level of protection if our code ever crashes or dead locks.