Limiting the speed of a Talon SRX

[jfitz0807]

What's the best way to limit the max speed of a Talon in closed loop position mode? We're using Talon SRXs in our drive train and trying to use them in kPosition mode to make the robot drive a specific distance. We're trying to tune a combination of the CloseLoopRampRate and our PID coefficients, but at one point, while holding a tote with a can on top, we turn right 90 degrees so we can move to the Auto Zone. We'd like to make this turn slower to minimize the risk of the can falling off the tote.

Any thoughts?

From /wpilib/wpilibC++Devices/src/CANTalon.cpp:


/**

* TODO documentation (see CANJaguar.cpp)

*/

void CANTalon::ConfigMaxOutputVoltage(double voltage)

{

/* SRX does not support max output */

wpi_setWPIErrorWithContext(IncompatibleMode, "MaxOutputVoltage not supported.");

}