We are trying to figure out how to get the number of rotations on our encoder through our CANTalon.
The FRC website offers a solution if you use the Encoder class, but we are doing it through the wpilib CANTalon class.
Here’s what we have so far:
CANTalon frontLeft = new CANTalon(RobotMap.frontLeft);
public encoder(){
frontLeft.changeControlMode(ControlMode.Position);
frontLeft.setFeedbackDevice(FeedbackDevice.QuadEncoder);
frontLeft.setPID(0.5, 0.001, 0.0);
frontLeft.enableControl();
}
Is there a way to do this through the CANTalon class? Help is much appreciated.