CANVenom with WPILib DifferentialDrive

Technical
1

Can we use the CANVenom’s with a DifferentialDrive?

Any code examples?

Thanks.

2

Have never done it but since the code library implements SpeedController I would think so

1 Like
3

Yea, saw that after I posted. Also saw they are Deprecating it. HMmmm? Give it a try.

Over the last couple years the students wrote a all in one Drive system around the DiffDrive for Autonomous & Teleop but using the WPI_TalonSRX. Someone (me) forgot that those are SpeedControllers. Be nice if CANVenom had the same thing, just a drop in.

Thanks.

4

For 2022, SpeedController was renamed to MotorController. SpeedController was made a deprecated shim, so it can be removed in the future. Looking at the CANVenom docs, it switched to MotorController so it can be passed to DiffDrive directly.

The only reason CTRE does the WPI_* classes is so they can have a version of the libraries not dependent on WPILib. Most other vendors don’t do this, so their classes just implement MotorController directly.

1 Like
5

They got them turning with basic joystick to motor tank control. They replaced the WPI_TalonSRX with CANVenom motors in the existing DiffDRv but are having control issues. Good to know it’s “supposed” to work. :sweat_smile:

Thanks.

6

Turn out to be a combination of errors. 2 pairs of 2 motors 4 CAN addresses. The pairs are chained so the invert is important. And a bunch of people trying to shotgun the problem. :joy:

Stopped it all, wrote a dedicate project to troubleshoot (eliminate other code) and walk thru the motors 1 at a time. Once they had the right combinations then apply them to the diffDrv. And finally, move to competition code and checkout. Everything is now working. :grinning:

Thanks for the help.

2 Likes
7

This topic was automatically closed 365 days after the last reply. New replies are no longer allowed.