We are working on a control system for our shooter hood, and decided to hook up the mag encoder to the CTRE Canifier. We are also running a continuous servo to actuate our hood angle. We might want to hook up the servo and limit switches to one of the PWM outputs for positioning.
Right now, the control is done on the RoboRio. I don’t think the canifier has PID controls.
First of all, do the rules allow the hood servo to be controlled with the Canifier? And second, can the firmware on the Canifier be modified to add integrated PID controls? Or would CTRE be able to add that as a feature?