Talon Magnetic Encoder Spikes

[rtse]

I have been observing spikes and plateaus in encoder readouts in some of the encoder plots of Talon controllers. Though the spikes and plateaus are not evenly spaced, they all appear to last 5 time slices.

Here is the zoomed in plot of a drive train on blocks.


Here is the zoomed in plot of one of the flywheels.


Our electronics team had a look at the wiring, but we are still having the problem.

Since the spikes/plateaus seem to have consistant timing, I suspect it is a CAN bus problem.

Any ideas on what this might be/how we might be able to resolve this?
Thanks!