Through bore encoder is too slow

I’m using a through bore encoder to track the position of the arm on our robot, the the values don’t update often enough, causing a jittery PID loop. I have the encoder plugged into the absolute encoder adapter on the spark max. Is there a way in software to get a reading faster, or do I just have to plug it into the roborio?

Set the period for the absolute encoder status frame to smth lower (I use 5 ms but its probably good if you use smth like 20 ms). Make sure to set the frames you don’t care about to higher periods so that more CAN bandwidth is available.

Thank you so much! This worked, and now I now that I can optimize can utilization if I need to

Yep :))) its great!