Quote:
Originally Posted by ozrien
It sounds like you have a cabling issue between the magencoder and Talon.
You can confirm this by grabbing the self-test before and after reproducing the problem and observing that the absolute position (pulse width) and relative position (quadrature) disagree. That's one of the benefits of the CTRE magnetic encoder; you have two references that rely on different physical wires.
Most likely the ribbon cable needs to be replaced, or if you are using a breakout inspect the solder contacts/wiring.
Are you close or exceeding the peak rated RPM for CTREMagEnc_Absolute? If so then select CTREMagEnc_Relative and setposition() to what the absolute reading reports. See github examples/Talon SRX Software Reference manual for more info and peak RPM specs.
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The rotation is quite slow, so I don't think exceeding RPM is an issue.
At some point, I switched to relative mode and the problem stopped. So perhaps you are correct.
But we have two components robot using a mag encoder, and I've seen the same issue in both of them, so I figure it would be unlikely for them both to have the same cabling issue.