Our team is building a 6 CIM Drivetrain and we are using Talon SRXs as motor controllers. We would like to use the integrated PID capabilities of the Talon, but we cannot find a way to use the output of 1 encoder as the PID input for the Talon. Is there a way to do this?
I’m not exactly sure what you mean, but the Talon SRX Software Reference Manual is an easy read and should have the answer you need.
It sounds like you would be interested in slave follower mode. That is, you’d run closed loop control for one SRX on each side of the drivetrain, then have the other two SRXs on each side set as slave followers for their respective “master” SRX.
Look at the Talon SRX User Guide. On page 19 there’s a schematic on how to connect a quadrature encoder to the Talon.
It sounds like each side has three Talons.
For a given side, connect the encoder to a Talon’s feedback connector (the one you want to closed-loop in). Then slave the other two Talons so that they follow the output of the close-looping-talon.
Checkout the Talon SRX software reference manual for examples on how to slave talons, and how to closed-loop.
Connecting the encoder is explained in the Talon SRX User’s Guide.