Wiring Talon SRX into two cim motors

We are currently moving to using Talon SRX’s for pid on the robot. However using one motor controller for each motor would mean having two motor controllers per gearbox. Since we only want one pid loop per gearbox to avoid issues with two loops trying to send the motors at different speeds how do we solve this? Should we run the output of one motor controller to the two motors it controls in series? Or is there a better way around this issue?

Thanks in advance.

Set one of the two controllers on each side into follower mode. Read the documentation for instructions on how to do that.


Normally you can use a Talon SRX with encoder for one motor controller per side and use a Victor SPX in slave mode that will follow exactly what it’s master Talon does.


Ah, we missed this, thank you

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