How are teams prototyping with Kraken and Falcon motors?
In the past, we’ve used brushed motors and the drill method for prototyping, which was convenient due to its built-in deadman switch.
As we transition to Kraken and Falcon motors, we’re curious to know how other teams are powering these brushless motors during the prototyping phase. What methods or setups are you using to ensure safe and efficient testing?
Oddly enough, I’ve been working on this 
Edit: better link.
That is amazing. We will have to give this a try. Have you run into any issues with the PWM generator? We had some issues last year when running our shooter prototype. For some reason, when we went from 80% command to 0% command, the PWM generator would stop working and we would have to power cycle. This didn’t seem to happen when running things without flywheels, though.
We prototype with Krakens and Falcons all the time. To run them, we have a test electrical board with all the necessary electrical components mounted on a piece of polycarbonate. When prototyping with just one motor, we use Phoenix Tuner X to control it. However, when using multiple motors, such as on our dual flywheel shooter prototype, we write a quick subsystem in our code and run the motors by setting their voltages or velocities in AdvantageScope tuning mode. This setup provides detailed information about the mechanism and lets us control how the motor behaves, like switching between coast mode and brake mode. Plus, it’s useful for testing code directly on the prototype.
Last year we supplied 12V power to each motor/controller combo and used the same PWM generators Weldingrod1 indicated (albeit not modified). This worked pretty well for the 2-3 launcher prototypes we had. The intake prototypes got mounted to a mule chassis that had a full control system. I imagine we’ll run something similar again this season.