Okay this may be totally a silly question… but we’ve got a bunch of mindsensor CAN speed controllers sitting around that we didn’t end up using because of all of the firmware and device ID issues that were happening this season.
Anyways, the talons have a ton of nice onboard control loops, and you can slave talons to a master talon. Is it remotely possible to slave a mindsensor controller to a talon? This would save a bit of money… other than that no real reason :P. More curious than anything.
I don’t think you can explicitly slave it, but you can probably fake it with MindsensorsSD540.set(CANTalon.getOutputVoltage()/MindsensorsSD540.getBatteryVoltage()); in Java. C++ should be similar.
I guess the question would be what the lag is between the SRX calculation and the secondary speed controller output.
Come to think of it, how does follower mode latency compare? AFAIK, the status frame containing speed controller output only updates every 10ms. So is a slave talon always 10ms behind the master one?
Can that update rate be changed by the user?
It can, but I know we leave it as the default (10ms). But it does make me wonder if the talon srx follower mode depends on this status frame rate.
Are you wondering if the SRX master broadcasts a special frame, not mentioned in the manual, for the followers?
That seems unlikely. Omar is too… fastidious*… to not put something in the manual.
*I really have to thank the Q&A people for pointing me at the dictionary this year. Been a big game changer. :rolleyes:
I must say that Omar’s manuals are among the best I’ve ever seen, for any product by any manufacturer.
The CTRE devices are without a doubt the best documented CAN devices I know of.
Yeah I am wondering if that is that case. It’s not documented what frame the follower mode follows as far as I know. Curious if there is a 10ms latency then.