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Unread 19-01-2017, 18:47
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Re: VersaPlanetary Integrated Encoder

First off debugging. Is the status light on your SRX encoder green or yellow? If not, you don't have power or you've assembled it wrong and it can't see the magnet. If you spin the wheel by hand, do you see a change in feedback or error? If not, there may be a problem with your cable or encoder.

Secondly, you should have a non-zero value for F. For initial tuning, you want PID = 0, F = number. Then tweak F up until you have 0 error at your target speed.

Thirdly, if all these are tied together in one system, it's better to have a single feedback and PID, and slave the other talons to the one that's doing PID. You have to do that anyways if you only have one. Check the Talon Software Reference Manual for info on that.

Thirdly, I'd rather you weren't setting ALL that in the Shoot function. It's fine for debugging, but the final code should have most of that in an initialize function and the Set calls only in Shoot.

Lastly, let me know if you haven't figured this out by Saturday and I can swing by your shop and see if I can help.
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