[RobotBuilder / Java] Multiple Talon SRX's

Technical Programming
1

Say you have 7 Talons. 4 connected to the 4 motors controlling the 4 wheels. In RobotBuilder, would you use 4 of the SRX actuators for each of the Talons in a Speed Controller Group? Or do you just need one for all 4 actual Talons?

2

are the 4 motors part of a drive?

3

If I understand you correctly, yes, these motors are part of drive. 2 for the front and back left drive and 2 for the front and back right drive.

4

Put both left motors into a speed controller group and both right motors into a speed controller group. Then put both speed controller groups into a differential drive.

5

Alright, so by “motors” you mean the speed controllers -talons-. Right? I think I understand the general functions, but I really am only a programmer, so I have to study everything else.

6

Yes the Talons are the speed controllers; you need to put them in a group because of the DifferentialDrive which takes the two sides of the robots as single parameters in its constructor.

7

With Talons you can just set one of left side and one of the right side motors as a master, and set the other left side and other right side to be followers.

In pseudo-code:
TalonSRX front_left_talon = new TalonSRX( <talon id> )
TalonSRX front_right_talon = new TalonSRX( <talon id> )

TalonSRX back_left_talon = new TalonSRX( <talon id> )
back_left_talon.set(ControlMode.Follower, <talon id>) // front left’s talon id

TalonSRX back_right_talon = new TalonSRX( <talon id> )
back_rightt_talon.set(ControlMode.Follower, <talon id>) // front right’s talon id

Then just use the masters (front_right and front_left) as your objects that get passed to your DifferentialDrive constructor.

8

or


TalonSRX back_left_talon = new TalonSRX( <talon id> )
back_left_talon.follow(front_left_talon);
9