CANTalon w/Encoder DriveStraight Command example

[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.