Is the e4t encoder compatible with the rio and Java

[Tparbotmail]

Does anyone know if the E4T encoders are compatible with the rio and current Java classes? We are using Talon SRX

[adciv]

The interface is the same as the E4P.

[Tparbotmail]

Thank you for the quick reply adciv. Do you mean the software or hardware interface? I'd think that reading it from the CAN via Java would work the same regardless of the encoder. The hardware interface between the SRX and the CIM would be all that matters. Java talks to the SRX thru the CAN, and it is the SRX that talks to the encoder.

[adciv]

The encoder hardware interface. Same pin configuration and wiring. It's a form/fit/function replacement for the E4P.

[ozrien]

Hey Tparbotmail,
I just responded to your PM, but basically the roboRIO languages supports sensors connected to the roboRIO, and supports the Talon features when the sensors are connected to the Talon SRX (CAN Bus). This is because of the combined efforts of (NI + FRC + WPILIB + CTRE).

So yep that includes quadrature encoders like the E4T.

Hardware wise there are many breakouts that allow connecting sensors to the Talon (several on our site but there are many developed by FRC teams too).
Hardware wise the roboRIO has digital and analog inputs for sensors.

Software-wise you can run closed-loops / motion-profiles in the roboRIO when sensors are connected to the RIO.

Software-wise you can run closed-loops / motion-profiles in the roboRIO when sensors are connected to the Talon.

Software-wise you can just tell the Talon what you want and leverage it's internal firmware features to do closed-loops / motion-profiles without much roboRIO involvement. These are the closed-loop features that make Talon SRX on CAN bus unique.

Talon SRX Software Reference Manual (and Motion Profile Reference Manual) explains the software API in the roboRIO for when sensors are connected to Talon SRX.
WPILIB/FRC-screensteps documentation covers sensors connected to the RIO (C++/java)
NI/FRC-screensteps documentation covers sensors connected to RIO (LabVIEW).