//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);
}
