Remote Sensor | SRX Quad Encoder to Talon v6 CTRE

Technical Sensors
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According to CTRE Features to be Implemented, v6 should have remote sensors in the future.

If this is at all possible this season, that would be fantastic. v6 is a lot cleanier and intuitive to configure in my opinion thanks to CTRE, despite the learning curve to migrate, but that’s beside the point.

The reason we are not just seeding the position and continuing using the Talon FX encoder is because of a decent amount of backlash in the gearing of the motors. For now, we will periodically call the setPosition in a separate thread from the main code thread.

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That’s the 2023-v6 documentation, this is the stable (2024) one: Feature Replacements. We have already implemented the remaining remote sensors and limit switches we had planned going into this past offseason. All the remote sensor sources we support are documented in the FeedbackSensorSourceValue enum.

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Using a remote quadrature encoder on an SRX for remote feedback was a neat feature.

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