6 CIM Drive with CANTalon

Technical Java
1

Hi Chief Delphi,

In past years we’ve used a multitude of different drive trains. Because the RobotDrive class only has support for only 4 motor controllers, we’ve used pwm splitters to account for any more motors that we want to be contained inside of a Robotdrive object, but I’m not sure how to do something similar with CAN use on the Talon SRX’s. I realize that I could easily create my own drive class assuming that I want to drive the robot in tank drive, but I’d like to take advantage of the arcade style drive that the RobotDrive class offers. How would I account for these two extra motors?

-Cinnamon Toast

2

You can create additional CANTalons and slave them to the CANTalons that you hooked up to your Robot Drive.

I put together a quick example here…
https://github.com/ozrien/FRC-Examples/blob/master/JAVA_Six_CANTalon_ArcadeDrive/src/org/usfirst/frc/team469/robot/Robot.java

More info in Section 9.1 of the Talon SRX Software Reference Manual to learn more about the Slave/Follower features in the Talon SRX.

3

Omar,

Thank you so much for this!

-Cinnamon Toast

4

Any hints/help for doing the same in LabView? I’ve tried slaving like in the CanTalonFollower LV example, but no joy.

I can do arcade with just two motors, but as soon as I try to slave another pair it fails with a bunch of errors mainly referring to PWM channels

5