![]() The Motor Safety feature works in a similar manner as the other motor controllers. Motor Safetyįrom Motor Safety Helper section in the programmer's manual: ![]() See Units and Signal Definitions in programmer's manual. roboRIO Web-based config also will decode in rotations and RPM. Robot API supports unit scaling so sensor position/velocity and closed-loop target position and velocity can be expressed in rotations and RPM. Depending on sensor selection, this may require the application to inform the API the resolution of the sensor using configuration routines. However the programming API allows for conversion into human-readable units, such as rotations and RPM. ![]() The Talon’s firmware uses a native unit set for the various signals. Important, please refer to programmer's manual for full description of capabilities and programming examples.
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