RamseteCommand usage with PID on Talon SRXes

I’ve been working with the RamseteCommand for the past couple of days now and I was wondering if using it to control a group of Talon SRXes while still allowing the internal PID loop on the Talons to run was redundant because it seems like, with all of the logic in the controller, the RIO has to manage feedback calculations. I was wondering if there is any way to take advantage of the control loop on the Talons or if it is no longer useful when you use a RamseteCommand.

This is being discussed over in Path Trajectory With TalonSRX Help

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