Talon SRX / VersaPlanetary encoder parameters?

Technical Electrical
1

Hi!

We are trying to figure out how to use and configure Talon SRX with VexPro VersaPlanetary encoder on a 63:1 gearbox.
We’re running it directly to the Talon SRX with the weird special cable…
We already (think) we figured out that we have to call either of:

talonSRX.SetSensorDirection(true);
talonSRX.SetClosedLoopOutputDirection(true);

But can find no documentation on what, if anything, to do with:

talonSRX.ConfigEncoderCodesPerRev();

Some documentation claims that the right thing happens, magically, without setting this value.

Another document suggests that the actual value is 1024.

And, only when we call:

talonSRX.ConfigEncoderCodesPerRev(1024);

Do results seem sort of reasonable.

Suggestions welcome.

Thanks,

Martin Haeberli
(de-)mentor, FRC 3045 Gear Gremlins (formerly SWAT)

2

You should call talon.setFeedbackDevice(FeedbackDevice.CtreMagEncoder_Absolute); (or CtreMagEncoder_Relative depending on how you want to use it). Setting the feedback device to the CTRE Mag Encoder presets all the settings so you don’t need to call the configEncoderCodesPerRev.

3

Checkout section 17.2 in the talon srx software reference manual.