Using Talon Sr

[Alicia V]

So as an off-season project, I am wiring up a chassis for prototyping. We have a ton of Talon Srs (the older ones) to use instead of the Talon SRX. The plan is to put encoders on the drive train and have pneumatic shifting.
I am wondering how to wire up using the newer electronics system and CAN bus without motor controllers that run through CAN.
How should I go about doing this and how can do I wire CAN?
Any other advice would be helpful

Thanks all!

[Chris is me]

I do not believe the old Talon SRs supported CAN? Someone correct me if I'm wrong, but I thought they were PWM only.

[viggy96]

The Talon SR, does not have CAN bus capability. It can only be controlled via PWM.

[ttnn58]

older talons can only be connected to PWm..

[EricH]

What you'll need to do is wire the encoders to the RoboRIO (or your preferred alternate controller) and have the RoboRIO read their data, then make whatever adjustments need to be made to the output to the Talons. As noted, the older Talons don't have CAN, so you'll be using PWM outputs for that.

Basically... you'll be doing it just about the same way as if you were using Spark controllers.

[GeeTwo]

If the question is how to wire CAN when you have no CAN motor controllers, it's pretty simple:
If you're using the PCM,
wire roboRIO to PCM to PDP, with CAN jumper on the PDP in the ON position.
else
wire roboRIO to PDP, again with CAN jumper in the ON position.

In both cases, orange to orange and green to green for each leg. Twist the orange and green wires around each other to cut down on RF radiation.


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The motor controllers will need PWM cables, available pre-fab from AndyMark or other places, but they're essentially a 3-wire ribbon cable with a male Dupont (0.1" header) connector at one end and female Dupont at the other end. The traditional coloring is black/red/white, as the ground is at one end, voltage in the middle, and signal at the other end. The roboRIO and motor controller PWM ports have indications as to which end should have the ground or black wire.

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Encoders will have to connect back to the DIO ports. Quadrature encoders will require two ports each. Search CD for the specific encoder model you are using to figure out the details of this wiring.

[arichman1257]

If I understand your question correctly then here is your answer:
You can wire up the CAN in the same way that you would normally. Just don't connect it to the motor controllers. It will go from the RoboRIO to the PCM to the PDP.