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public class Main {

  public static void main(String[] args) {
    minRotationIEEERemainder(4095, 1); // expect +2
    minRotationIEEERemainder(10 * 0x1000 + 4095, 1); // same, plus 10 revolutions
    minRotationIEEERemainder(-1024, 1024); // expect +/- 2048
    minRotationIEEERemainder(10 * 0x1000 - 1024, 1024); // same, plus 10 revolutions
    minRotationIEEERemainder(2730, 1365); // 240 -> 120 expect -120 (-1365)
    minRotationIEEERemainder(10 * 0x1000 + 2730, 1365); // 240 -> 120 expect -120 (-1365)

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// azimuth talon configuration
// NOTE: do not rely on these PID parameters, you should tune for your physical plant

TalonSRXConfiguration azimuthConfig = new TalonSRXConfiguration();
azimuthConfig.primaryPID.selectedFeedbackSensor = FeedbackDevice.CTRE_MagEncoder_Relative;
azimuthConfig.continuousCurrentLimit = 10;
azimuthConfig.peakCurrentDuration = 0;
azimuthConfig.peakCurrentLimit = 0;
azimuthConfig.slot0.kP = 10.0;
azimuthConfig.slot0.kI = 0.0;

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public class Main {

  public static void main(String[] args) {
    minRotation(359, 0);
    minRotation(359, 1);
    minRotation(90, -90);
    minRotation(180, -180);
    minRotationWithReverse(359, 1);
    minRotationWithReverse(90, -90);
    minRotationWithReverse(180, -180);

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Run	Expected (cm)	Actual (cm)	Comments
1	700	644.0	pA = 0.0, pD = 0.0
2	700	641.0	pA = -0.004, pD = 0.0
3	700	649.0	pA = -0.004, pD = 0.0
4	700	692.0	pA = -0.004, pD = 4e-6
5	700	693.5	pA = -0.004, pD = 4e-6
6	700	693.0	pA = -0.004, pD = 4e-6

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Climber
Left CAN=20 PDP=12
Right CAN=21 PDP=13

Intake
Left CAN=30 PDP=10
Right CAN=31 PDP=9

Shoulder
CAN=40 PDP=11

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// factory reset a talon and run these statements in a robot program
double value = talon.configGetParameter(ParamEnum.eBatteryVoltageFilterSize, 0, 10)
System.out.println("voltage filter size = " + value);
value = talon.configGetParameter(ParamEnum.eProfileParamSlot_MaxIAccum, 0, 10)
System.out.println("max I-accum = " + value);

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#include "motion.h"

#include <cmath>
#include <iostream>

using namespace std;

/**
 * @param distance in encoder ticks
 * @param max_v in ticks/100ms

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package org.team2767.thirdcoast;

import com.ctre.phoenix.ErrorCode;
import com.ctre.phoenix.motorcontrol.ControlMode;
import com.ctre.phoenix.motorcontrol.can.TalonSRX;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.Timer;

public class TalonTestRobot extends IterativeRobot {