Configure The Encoder

We will start by creating a default subsystem called Lift, and adding our hardware to it:

  // Talon controller for Lift motor
  private final WPI_TalonSRX liftController;

Next in the constructor, we need to configure the Talon on the CAN bus and tell it to use the onboard PID controller and Mag Encoder

    // Make sure to clear any existing settings after initializing
    liftController = new WPI_TalonSRX(23);
    liftController.configFactoryDefault();

    // Tell the Talon to use the onboard Mag Encoder
    liftController.configSelectedFeedbackSensor(FeedbackDevice.QuadEncoder);
    liftController.setSelectedSensorPosition(0.0);

    // Set the sensor and Talon inversion separately
    liftController.setInverted(false);
    liftController.setSensorPhase(false);

Finally we need to configure the PID controller. You can read more on how these work in the WPILib Docs, as the process is the same. Make sure to replace <kPIDF> with your own PID values, or start at 0.0 if you don’t know yet.

    liftController.config_kP(0, <kP>);
    liftController.config_kI(0, <kI>);
    liftController.config_kD(0, <kD>);
    liftController.config_kF(0, <kF>);

With the controller configured, we can make a simple method in Lift for sending the Lift to a position.

  /** Set the Lift to a position in TalonSRX sensor ticks */
  public void set(double position) {
    liftController.set(ControlMode.Position, position);
  }