Today, I have looked through the CTRE API documentation and I believe I found the correct methods for connecting our quad encoders through our Talon SRX. We are using the WPI_TalonSRX type for the talons. My code for instantiating the encoders and the motor controllers is as follows:
driveTrainTalonSRX1 = new WPI_TalonSRX(6); driveTrainTalonSRX1.set(ControlMode.PercentOutput, 6); driveTrainTalonSRX1.configSelectedFeedbackSensor(FeedbackDevice.QuadEncoder,0,0): driveTrainTalonSRX3 = new WPI_TalonSRX(7); driveTrainTalonSRX3.set(ControlMode.PercentOutput, 7); driveTrainTalonSRX3.configSelectedFeedbackSensor(FeedbackDevice.QuadEncoder,0,0):
This is within init() of RobotMap since we program command based. We have done conductivity checks.