//Excavation public static TalonSRX CreateLinearActuator(int CAN_ID) { TalonSRX talon = new TalonSRX(CAN_ID); talon.ConfigSelectedFeedbackSensor(FeedbackDevice.Analog); talon.ConfigFeedbackNotContinuous(true, 100); talon.SetInverted(true); talon.SetSensorPhase(true); talon.ConfigPeakCurrentLimit(6); talon.ConfigPeakCurrentDuration(150); talon.ConfigContinuousCurrentLimit(3); // talon.SetStatusFramePeriod(StatusFrame.Status_1_General_, 25); // Sets encoder value feedback rate -TODO return(talon); }