Defaults to Quadrature Encoder (which is what we want)
/* CTRE magnetic encoder relative, same as Quadrature */
talon.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative, 0, 0); /* PIDLoop = 0, timeoutMs=0 */
Can be set and confirmed in roboRIO Web-based Configuration Forward motor output will be disabled if Sensor Position is less than the Reverse Soft Limit, and vice versa
Can also use Java
/* +14 rotations forward when using CTRE Mag encoder */
talon.configForwardSoftLimitThreshold(+14*4096, 10);
talon.configReverseSoftLimitThreshold(-15*4096, 10);
talon.configForwardSoftLimitEnable(true, 10);
talon.configReverseSoftLimitEnable(true, 10);
/* pass false to FORCE OFF the feature. Otherwise the enable flags above are honored */
talon.overrideLimitSwitchesEnable(true);
talon.configAllowableClosedloopError(0, 409, 10);
Can be multiplied by a custom coefficient prior to being latched for closed-loop
4096 units per motor rotation geared output 10:1 1000/4096/10, ensuring every mechanical rotation scales to 1000 units =0.0244140625