Hi we want to shoot the balls in rpm and were using the falcon FX my questions are:
1.how to declare and use the encoder in the talon FX?
2. How to convert the encoder values to rpm?
Thanks!
Not familiar with talon fx but im going to assume that it is close to talon srx.
I don’t know how the integrated sensor is declared in code… I suggest looking up a documentation on it, im sure they will tell you what to do.
as for the rpm, each rotation of fx encoder is 2048 and velocity in which the fx reads out is in units/100ms. So you would multiply the given velocity by 600(converting 100ms to m) and divide by 2048(units[or ticks] converting to rotations).
Equation => rpm = velocity*600/2048
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You probably don’t need to use the encoder directly in your code. You probably want to use Closed Loop Velocity mode to tell the Talon FX to run at a set velocity.
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