Go to Post If you are "retiring" the old ball, make all the lights green, hang it 8 feet in the air, line up a bunch of 'bots and let 'em shoot poofs. RoboPinata! (warning kids - don't eat the "candy" that falls out!) - Taylor [more]
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Unread 05-02-2017, 12:50
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Re: How do you shoot so fast?

Quote:
Originally Posted by s_forbes View Post
The gist I get from the programming team is that the Talon SRXs only feedback velocity information from the encoders on a 100ms timeframe, so making a control loop respond to multiple balls per second is extremely difficult with that route. Running the encoder into the digital I/O ports on the rio lets you make your own control system that is more responsive.
The Talon closes the loop much faster than the roboRio WPI classes (by default). I think the Talon is nearly 10X faster. The 100ms comes up because the Talon counts pulses per 100ms instead of pulses per second - my guess is they do it to make the internal integer math easier. But, for sure, the 100ms thing has zero to do with how fast the Talon's close the loop.

HTH
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