Can we use Falcon 500 and Kraken X60 simultaneously on our Mk4 swerve drive?

[Uzgunaraba]

We only have 8 Falcon 500 right now and we don’t have any spare. Due to Falcon being out of stock we can’t but them. We thought we can use 4 falcon for direction and and use 4 kraken motor for rotation or vice versa. I wanted to learn some other teams opinions on if it is possible. Did someone use mixed motors?

[rich.varone]

Nothing would stop you from running 4 on drive of 1 type and 4 on rotation of the other type, I personally would use the Krakens on the drive due to their better specs.

Also something else to keep in mind, Krakens aren’t shipping yet and if you haven’t placed an order for any you might be waiting till mid Jan/Feb until you get any in hand. You might not want to wait this long until you get your drive up and running. It might be best to use all 8 Falcons on your drive and use krakens for your other mechanisms when you get them in hand, or also order some NEOs

[Uzgunaraba]

Thank you.

[EHutson]

Falcons and Krakens will work great on a drive base! A benefit to using krakens over neos it that programming is easier as both falcons and krakens use the same motor controller.

[Bmongar]

Also if you use can use the phoenix tuner x swerve generator

[Justin_Montois]

#FalKenDrive

[orangebird]

#Krakondrive

[Ashray.g]

Using the Krakens on steer and Falcons on drive seems suboptimal to the other way around. Mixed motors should be simple to do and since both are CTRE you probably just barely have to change some constants in an 8 Falcon swerve codebase (since they’re both TalonFX).