public void Setup() { TalonSrx armTalon = (TalonSrx)_gearBox.GetMaster(); armTalon.SetStatusFrameRateMs(TalonSrx.StatusFrameRate.StatusFrameRateGeneral, 10); //Send updates every 10ms instead of 10ms armTalon.SetStatusFrameRateMs(TalonSrx.StatusFrameRate.StatusFrameRatePulseWidthMeas, 1); //1ms update insead of 100ms for encoder armTalon.SetSensorDirection(true); //reversed sensor armTalon.ConfigFwdLimitSwitchNormallyOpen(false); armTalon.ConfigRevLimitSwitchNormallyOpen(false); armTalon.EnableZeroSensorPositionOnReverseLimit(false); //enable on reverse limit armTalon.EnableZeroSensorPositionOnForwardLimit(false); }