I am attempting to control a turret with a Pigeon 2, and I would like to have soft limits with a 10-turn analog potentiometer connected to the analog gadgeteer port. I’m struggling to figure out the right Talon SRX configuration. I think I need to set one sensor as the primaryPID sensor and use the other as the secondaryPID sensor.
I do not see a way to configure which sensor triggers the soft limit, is it always the primaryPID sensor or can it be configured independently? If it always has to be the primaryPID’s sensor, then I need to configure the potentiometer as my auxiliaryPID sensor.
Assuming I need to use the potentiometer as the primaryPID sensor, can I use closed-loop control with only the auxiliaryPID when I want to use the Pigeon for closed-loop? I suppose I could set my primary PID values all to zero so the primaryPID has no effect, but it seems like there should be a better way.