TalonSRX is controlled by CAN from Java.
How do I activate S-Curve?
The current code.
TalonSRX talon =new TalonSRX(0);
talon.set(ControlMode.PercentOutput,0.2);This should likely be posted under one of the programming subforums instead of here. Maybe a Mod can move it for you.
But in order to answer the question, you’ll need to provide a lot more information. Specifically, please define what you mean by “s-curve”. If referencing a specific feature of some component, please link to relevant documentation for that feature. If you’re referring to some programming paradigm/software design concept or software control system, then a link to something describing that would help as well.
It sounds like you are asking about utilizing motion profiling with the Talon. I believe, specifically, he’s asking about trapezoidal versus s-curve using motion magic. This was added in week 6 of 2019.
There is some information here:
https://readthedocs.org/projects/phoenix-documentation/downloads/pdf/latest/
It is also here:
https://phoenix-documentation.readthedocs.io/en/latest/ch16_ClosedLoop.html
In the future, please take the time to read the documentation on your hardware.
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Thank you very much. Do I need an encoder in this case?
It’s dependent on what exactly “this case” is.
Most forms of closed-loop control involve a sensor to provide feedback.
An encoder is a very common choice for many FRC applications.
TL;DR: Maybe.
Almost certainly, although I’ve used Motion Magic without an encoder before just to make a simple movement smoother.
I want to slow down the drive to prevent sudden acceleration, but can I do without an encoder?
I think what you’re looking for is open loop ramping:
Basically this just means if you input 0 motor power in one step and full power a half second later, the motor controller will slowly increase the power to full over however long you specify rather than sharply accelerating.
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