Our team was running Phoenix framework 5.17.6 and we updated to 5.18.1. Talon SRX firmware was at 20.0 and we updated to 20.1.
We’re running the ADIS 2020.r1 release.
When we updated the CTRE driver, it broke the ADIS16470 gyro driver. There is an incompatibility between these two 3rd party drivers. We are calling calibrate on the gyro just before autonomous begins. Everything worked fine until we updated the CTRE driver. After the update, all of the Talons started throwing messages indicating that they are not updated frequently enough. This is the WPILIB safety feature. We’re enabling safety on the SRX’s with a timeout of 100ms. Nothing worked on our bot, not even the Spark Max’s.
We removed the calibrate call on the gyro (it still does a calibrate when the class is instantiated). This got rid of the Talon failures. However, the gyro now only returns 0 for any axis angle.
This issue was first noticed after powering up the bot. We found that if we reboot from the driver’s station after powering up, both the gyro and the Talon’s work properly… no safety errors. This worked with or without the call to calibrate. Rebooting seems to heal all problems… however, any time the robot is powered down and restarted the failures occur again.
We reverted the Phoenix framework and Talon SRX Java library to version 5.17.6 and the problems went away.
Is it ok to run the Talon SRX firmware at 20.1 and the Java library at 5.17.6. We’ll also revert the SRX firmware if necessary.
One or both of the drivers needs repair.