Third Coast Azimuth TalonSRX Settings

azimuth.java

// 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;
azimuthConfig.slot0.kD = 100.0;
azimuthConfig.slot0.kF = 0.0;
azimuthConfig.slot0.integralZone = 0;
azimuthConfig.slot0.allowableClosedloopError = 0;
azimuthConfig.motionAcceleration = 10_000;
azimuthConfig.motionCruiseVelocity = 800;

TalonSRX azimuthTalon = new TalonSRX(1);
azimuthTalon.configAllSettings(azimuthConfig);

zero.java

/**
 * Set the azimuthTalon encoder relative to wheel zero alignment position. For example, if current
 * absolute encoder = 0 and zero setpoint = 2767, then current relative setpoint = -2767.
 *
 * <pre>
 *
 * relative:  -2767                               0
 *           ---|---------------------------------|-------
 * absolute:    0                               2767
 *
 * </pre>
 *
 * @param zero zero setpoint, absolute encoder position (in ticks) where wheel is zeroed.
 */
public void setAzimuthZero(int zero) {
  int azimuthSetpoint = getAzimuthAbsolutePosition() - zero;
  azimuthTalon.setSelectedSensorPosition(azimuthSetpoint, 0, 10);
}

/**
 * Returns the wheel's azimuth absolute position in encoder ticks.
 *
 * @return 0 - 4095, corresponding to one full revolution.
 */
public int getAzimuthAbsolutePosition() {
  return azimuthTalon.getSensorCollection().getPulseWidthPosition() & 0xFFF;
}

See a functional 2019 robot example at swerve-example.