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Unread 02-13-2018, 02:53 PM
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[RobotBuilder / Java] Multiple Talon SRX's

Say you have 7 Talons. 4 connected to the 4 motors controlling the 4 wheels. In RobotBuilder, would you use 4 of the SRX actuators for each of the Talons in a Speed Controller Group? Or do you just need one for all 4 actual Talons?
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Unread 02-13-2018, 03:12 PM
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Re: [RobotBuilder / Java] Multiple Talon SRX's

are the 4 motors part of a drive?
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Unread 02-13-2018, 03:56 PM
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Re: [RobotBuilder / Java] Multiple Talon SRX's

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Originally Posted by fovea1959 View Post
are the 4 motors part of a drive?
If I understand you correctly, yes, these motors are part of drive. 2 for the front and back left drive and 2 for the front and back right drive.
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Unread 02-13-2018, 04:03 PM
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Put both left motors into a speed controller group and both right motors into a speed controller group. Then put both speed controller groups into a differential drive.
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Unread 02-13-2018, 04:59 PM
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Re: [RobotBuilder / Java] Multiple Talon SRX's

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Originally Posted by Joe Ross View Post
Put both left motors into a speed controller group and both right motors into a speed controller group. Then put both speed controller groups into a differential drive.
Alright, so by "motors" you mean the speed controllers -talons-. Right? I think I understand the general functions, but I really am only a programmer, so I have to study everything else.
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Unread 02-13-2018, 07:18 PM
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Quote:
Originally Posted by 29df6 View Post
Alright, so by "motors" you mean the speed controllers -talons-. Right? I think I understand the general functions, but I really am only a programmer, so I have to study everything else.


Yes the Talons are the speed controllers; you need to put them in a group because of the DifferentialDrive which takes the two sides of the robots as single parameters in its constructor.
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Unread 02-13-2018, 08:55 PM
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Re: [RobotBuilder / Java] Multiple Talon SRX's

With Talons you can just set one of left side and one of the right side motors as a master, and set the other left side and other right side to be followers.

In pseudo-code:
TalonSRX front_left_talon = new TalonSRX( <talon id> )
TalonSRX front_right_talon = new TalonSRX( <talon id> )

TalonSRX back_left_talon = new TalonSRX( <talon id> )
back_left_talon.set(ControlMode.Follower, <talon id>) // front left's talon id

TalonSRX back_right_talon = new TalonSRX( <talon id> )
back_rightt_talon.set(ControlMode.Follower, <talon id>) // front right's talon id


Then just use the masters (front_right and front_left) as your objects that get passed to your DifferentialDrive constructor.
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Unread 02-15-2018, 09:34 PM
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Re: [RobotBuilder / Java] Multiple Talon SRX's

or

Code:
TalonSRX back_left_talon = new TalonSRX( <talon id> )
back_left_talon.follow(front_left_talon);
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