CANTalon w/Encoder DriveStraight Command example

[cybersader13]

Want to add a quick note to this. While in our test scenario (with just one talon and one encoder) we were able to have an execute() method that was empty, we saw this leading to problems when we moved to our real drivetrain with 4 talons, 2 encoders. Specifically it behaved like the watchdog was shutting our system down b/c (we think) it was not sensing that we were in control of the talons given we were not commanding them in any way within execute(). We added calls to talon.set(revsToMove) within execute() and that solved the issue.

Many thanks to veteran team 2062 CORE robotics from Waukesha South, WI for helping us work through this and other issues. They have helped us a ton over the last two years and are a shining example of how to demonstrate the values of gracious professionalism and coopertition.

[ozrien]

Originally Posted by cybersader13

Want to add a quick note to this. While in our test scenario (with just one talon and one encoder) we were able to have an execute() method that was empty, we saw this leading to problems when we moved to our real drivetrain with 4 talons, 2 encoders. Specifically it behaved like the watchdog was shutting our system down b/c (we think) it was not sensing that we were in control of the talons given we were not commanding them in any way within execute(). We added calls to talon.set(revsToMove) within execute() and that solved the issue.

That is explained in section 16.14 and section 19 of the Talon SRX Software reference manual.