Potential MotorOuput.vi bug

[Iaquinto.Joe]

We've recognized that using MotorController references and their associated output VIs have limited the pwm signall to about 60% maximum values. Although we were sending a 1 to motoroutput.vi, the talon was only outputting about 7V. We switched to a PWM reference, sent 255 to the same channel, and without recalibrating, our talon outputted 12V. We aren't sure if this is a WPILib glitch or if we did something else wrong, but I feel like a potential 40% increase in power may be worthy of a look.

[Joe Ross]

Talons with default calibration respond to a PWM range of 1-2ms. Jaguars with default calibration respond to a PWM range of 0.67-2.33ms. If a Talon was calibrated to run on a Jaguar range, and then fed with a Talon range, it would output around 7v.

The PWM reference uses the full Jaguar range.

[Iaquinto.Joe]

All of the motor controller references were configured to talons correctly using the polymorphic VI. The PWM references allow the talons to reach max voltage, but motor controller references do not.

Oh! Now that I'm thinking about it, we did calibrate the talons on a PWM reference, thus making output strangely. Thanks for the help!