Last season we started with 4 Sim motors for our tank drive. They worked great. However, we changed them to Falcon 500’s . We haven’t been having the best luck with this setup. We have noticed that whenever we slow the robot down brakes are applied for a split second. This happens no matter how far we push the joystick up. If we go a quarter throttle then back down, it brakes for a split second, we go half way then down a bit it does it as well. It breaks and makes a loud clunk whenever we slow the robot down or go from forward to reverse. The motors would also squeak at us a lot with turning and changing between forward and back.
We have been working on the at home challenges and the bot was working fine, still with the squeaks and clunks. Then, all of a sudden one of the motors has stopped working.
While idle the lights are blinking orange (along with every other motor in our drivetrain, but when we apply power the lights turn red and the motor doesn’t spin and our robot turns to the side that has less power.
Any suggestions / help would be much appreciated.
We have noticed that whenever we slow the robot down brakes are applied for a split second.
Could you qualify this statement a bit more? Do you mean Neutral Brake mode? What do you expect to occur when you apply less power and what is seen happening on the robot?
It breaks and makes a loud clunk whenever we slow the robot down or go from forward to reverse.
This sounds mechanical, I’ve never heard a clunk coming from a Falcon before.
The motors would also squeak at us a lot with turning and changing between forward and back.
Falcons will “chirp” when stalling, this might be what you’re hearing. It doesn’t affect the performance of the Falcon, it’s only to indicate the stall condition.
Then, all of a sudden one of the motors has stopped working… but when we apply power the lights turn red and the motor doesn’t spin.
I’m assuming you’re using CAN and can view the Falcons in Phoenix Tuner.
Could you take a self-test snapshot of that Falcon while this is happening and post it here? It will shed light on what it’s trying to do and helps diagnose what’s occurring.
what control mode are you using? percent output? velocity PID?
[https://drive.google.com/file/d/1PU_jD93zUyMwnR7FBvgJ9zA5tY589f72/view?usp=sharing]
Here is a link to what I was explaining. We also found that the weld on the bottom of the spindle broke as well…
https://drive.google.com/file/d/1PXDJz_olYJ3C5aidTnN7OjDgnaTa01um/view?usp=sharing
I am not the programming guru. But I this is the part of our code that drives the bot.
robotDrive.arcadeDrive(driverJoystick.getY(), driverJoystick.getX()* -1);
and here is our entire code…
/----------------------------------------------------------------------------/
/* Copyright © 2018 FIRST. All Rights Reserved. /
/ Open Source Software - may be modified and shared by FRC teams. The code /
/ must be accompanied by the FIRST BSD license file in the root directory of /
/ the project. /
/----------------------------------------------------------------------------*/
package frc.robot;
import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableEntry;
import edu.wpi.first.networktables.NetworkTableInstance;
import com.ctre.phoenix.motorcontrol.ControlMode;
import com.ctre.phoenix.motorcontrol.FeedbackDevice;
import com.ctre.phoenix.motorcontrol.InvertType;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.can.*;
import edu.wpi.first.wpilibj.Compressor;
import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
/**
- The VM is configured to automatically run this class, and to call the
- functions corresponding to each mode, as described in the TimedRobot
- documentation. If you change the name of this class or the package after
- creating this project, you must also update the build.gradle file in the
- project.
/
public class Robot extends TimedRobot {
/*- This function is run when the robot is first started up and should be used
- for any initialization code.
*/
private final WPI_TalonFX leftMaster = new WPI_TalonFX(1);
private final WPI_TalonFX rightMaster = new WPI_TalonFX(2);
private final WPI_TalonFX leftSlave = new WPI_TalonFX(4);
private final WPI_TalonFX rightSlave = new WPI_TalonFX(3);
private final DifferentialDrive robotDrive = new DifferentialDrive(leftMaster, rightMaster);
private final WPI_TalonSRX turretControl = new WPI_TalonSRX(11);
private final WPI_TalonSRX mainShooter = new WPI_TalonSRX(7);
private final WPI_TalonSRX topShooter = new WPI_TalonSRX(8);
private final WPI_VictorSPX feederWheel = new WPI_VictorSPX(13);
private final WPI_VictorSPX intakeSystem = new WPI_VictorSPX(17);
private final WPI_VictorSPX intakeWheels = new WPI_VictorSPX(14);
private final WPI_TalonSRX elevatorMaster = new WPI_TalonSRX(9);
private final WPI_VictorSPX elevatorSlave = new WPI_VictorSPX(10);
private final Compressor compressor = new Compressor();
private final DoubleSolenoid intakeArms = new DoubleSolenoid(5, 7);
private final DoubleSolenoid ratchetArm = new DoubleSolenoid(4, 1);
private final Joystick driverJoystick = new Joystick(0);
private final Joystick manipJoystick = new Joystick(1);
CameraServer server;
private boolean limelightHasValidTarget = false;
private double m_LimelightSteerCommand = 0.0;
@Override
public void robotInit() {
server = CameraServer.getInstance();
server.startAutomaticCapture(0);
//interted settings
leftMaster.setInverted(true);
rightMaster.setInverted(true);
//slave setups
leftSlave.follow(leftMaster);
rightSlave.follow(rightMaster);
elevatorSlave.follow(elevatorMaster);
leftSlave.setInverted(InvertType.FollowMaster);
rightSlave.setInverted(InvertType.FollowMaster);
//init encoders
mainShooter.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative, 0, 10);
topShooter.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative, 0, 10);
turretControl.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative, 0, 10);
leftMaster.clearStickyFaults(10);
rightMaster.clearStickyFaults(10);
mainShooter.clearStickyFaults(10);
topShooter.clearStickyFaults(10);
turretControl.clearStickyFaults(10);
//config PIDs
mainShooter.config_kF(0, 0.0265, 10);
mainShooter.config_kP(0, 0.65, 10);
mainShooter.config_kI(0, 0.0002, 10);
mainShooter.config_kD(0, 6, 10);
mainShooter.config_IntegralZone(0, 100, 10);
topShooter.config_kF(0, 0.02764865, 10);
topShooter.config_kP(0, 0.05, 10);
topShooter.config_kI(0, 0, 10);
topShooter.config_kD(0, 0, 10);
//reset encoders
leftMaster.setSelectedSensorPosition(0, 0, 10);
rightMaster.setSelectedSensorPosition(0, 0, 10);
mainShooter.setSelectedSensorPosition(0, 0, 10);
topShooter.setSelectedSensorPosition(0, 0, 10);
turretControl.setSelectedSensorPosition(0, 0, 10);
turretControl.setSensorPhase(false);
//set configs
turretControl.configMotionAcceleration(450, 10);
turretControl.configMotionCruiseVelocity(450, 10);
turretControl.setNeutralMode(NeutralMode.Coast);
mainShooter.setNeutralMode(NeutralMode.Coast);
topShooter.setNeutralMode(NeutralMode.Coast);
leftMaster.setNeutralMode(NeutralMode.Coast);
rightMaster.setNeutralMode(NeutralMode.Coast);
leftSlave.setNeutralMode(NeutralMode.Coast);
rightSlave.setNeutralMode(NeutralMode.Coast);
leftMaster.configOpenloopRamp(1);
rightMaster.configOpenloopRamp(1);
leftSlave.configOpenloopRamp(1);
rightSlave.configOpenloopRamp(1);
//start compressor
compressor.start();
}
private Timer autonStateTimer;
private int autonState;
private final static int AUTON_STATE_AIM = 1;
private final static int AUTON_STATE_SHOOT = 2;
private final static int AUTON_STATE_TURN = 3;
//private final static int AUTON_STATE_REVERSE = 5;
//private final static int AUTON_STATE_SHOOT2 = 6;
private final static int AUTON_STATE_FINISHED = 7;
private void changeAutonState (int nextState) {
if (nextState != autonState){
autonState = nextState;
autonStateTimer.reset();
}
}
@Override
public void autonomousInit() {
autonState = AUTON_STATE_SHOOT;
autonStateTimer = new Timer();
autonStateTimer.reset();
autonStateTimer.start();
leftMaster.setSafetyEnabled(false);
rightMaster.setSafetyEnabled(false);
leftSlave.setSafetyEnabled(false);
rightSlave.setSafetyEnabled(false);
}
@Override
public void autonomousPeriodic() {
limelightTracking();
switch (autonState) { // Shoot, Turn, Drive/Intake, Reverse, Shoot
case AUTON_STATE_AIM: {
turretControl.set(ControlMode.PercentOutput, m_LimelightSteerCommand);
mainShooter.set(ControlMode.Velocity, 20700);
topShooter.set(ControlMode.Velocity, -19200);
feederWheel.set(ControlMode.PercentOutput, 0);
intakeSystem.set(ControlMode.PercentOutput, 0);
if (autonStateTimer.hasPeriodPassed(5.0)==true){
changeAutonState(AUTON_STATE_SHOOT);
}
break;
}
case AUTON_STATE_SHOOT: {
turretControl.set(ControlMode.PercentOutput, m_LimelightSteerCommand);
mainShooter.set(ControlMode.Velocity, 20700);
topShooter.set(ControlMode.Velocity, -19200);
feederWheel.set(ControlMode.PercentOutput, -0.75);
intakeSystem.set(ControlMode.PercentOutput, -0.7);
//intakeArms.set(Value.kForward);
if (autonStateTimer.hasPeriodPassed(5.0)) {
changeAutonState(AUTON_STATE_TURN);
}
break;
}
case AUTON_STATE_TURN: {
// intakeArms.set(Value.kForward);
turretControl.set(ControlMode.PercentOutput, 0);
mainShooter.set(ControlMode.PercentOutput, 0);
topShooter.set(ControlMode.PercentOutput, 0);
feederWheel.set(ControlMode.PercentOutput, 0);
intakeSystem.set(ControlMode.PercentOutput, 0);
leftMaster.set(ControlMode.PercentOutput, 0.26);
rightMaster.set(ControlMode.PercentOutput, -0.24);
if (autonStateTimer.hasPeriodPassed(4.0)) {
changeAutonState(AUTON_STATE_FINISHED);
break;
}
}
// case AUTON_STATE_REVERSE:{
// intakeArms.set(Value.kForward);
// limelightTracking();
// turretControl.set(ControlMode.PercentOutput, m_LimelightSteerCommand);
// mainShooter.set(ControlMode.Velocity, 21000);
// topShooter.set(ControlMode.Velocity, -21000);
// leftMaster.set(ControlMode.PercentOutput, 0.25);
// rightMaster.set(ControlMode.PercentOutput, -0.25);
// intakeSystem.set(ControlMode.PercentOutput, -0.7);
// if (autonStateTimer.hasPeriodPassed(3.0)) {
// changeAutonState(AUTON_STATE_SHOOT2);
// }
// break;
// }
// case AUTON_STATE_SHOOT2:{
// intakeArms.set(Value.kReverse);
// limelightTracking();
// turretControl.set(ControlMode.PercentOutput, m_LimelightSteerCommand);
// leftMaster.set(ControlMode.PercentOutput, 0);
// rightMaster.set(ControlMode.PercentOutput, 0);
// intakeArms.set(Value.kReverse);
// mainShooter.set(ControlMode.Velocity, 21300);
// topShooter.set(ControlMode.Velocity, -21300);
// feederWheel.set(ControlMode.PercentOutput, -0.75);
//intakeSystem.set(ControlMode.PercentOutput, -0.7);
// if (autonStateTimer.hasPeriodPassed(3.0)){
// changeAutonState(AUTON_STATE_FINISHED);
// }
// break;
// }
case AUTON_STATE_FINISHED:{
mainShooter.set(ControlMode.PercentOutput, 0);
topShooter.set(ControlMode.PercentOutput, 0);
feederWheel.set(ControlMode.PercentOutput, 0);
intakeSystem.set(ControlMode.PercentOutput, 0);
break;
}
}
}
@Override
public void teleopInit() {
}
@Override
public void teleopPeriodic() {
//networktables
final NetworkTable table = NetworkTableInstance.getDefault().getTable(“limelight”);
final NetworkTableEntry tx = table.getEntry(“tx”);
final NetworkTableEntry ty = table.getEntry(“ty”);
final NetworkTableEntry ta = table.getEntry(“ta”);
final NetworkTableEntry ledMode = table.getEntry(“ledMode”);
//read values periodically
final double x = tx.getDouble(0.0);
final double y = ty.getDouble(0.0);
final double area = ta.getDouble(0.0);
//post to smart dashboard periodically
SmartDashboard.putNumber("LimelightX", x);
SmartDashboard.putNumber("LimelightY", y);
SmartDashboard.putNumber("LimelightArea", area);
final double distAngle = (20 + y);
final double dist = (8.1875 - 2.25) / (Math.tan(distAngle));
SmartDashboard.putNumber("Distance", dist);
robotDrive.arcadeDrive(driverJoystick.getY(), driverJoystick.getX()* -1);
double suckSpeed = 0;
intakeWheels.set(ControlMode.PercentOutput, suckSpeed);
if (manipJoystick.getRawButton(5)==true){
suckSpeed = -0.65;
intakeWheels.set(ControlMode.PercentOutput, suckSpeed);
}
if (manipJoystick.getRawButton(8)==true){
suckSpeed = 0.65;
intakeWheels.set(ControlMode.PercentOutput, suckSpeed);
}
double shooterSpeed = 0;
mainShooter.set(ControlMode.PercentOutput, shooterSpeed);
if (manipJoystick.getRawButton(7)==true){
shooterSpeed = 20900;
mainShooter.set(ControlMode.Velocity, shooterSpeed);
}
if (manipJoystick.getRawButton(3)==true){
shooterSpeed = 22000;
mainShooter.set(ControlMode.Velocity, shooterSpeed);
}
if (manipJoystick.getRawButton(11)==true){
shooterSpeed = 23500;
mainShooter.set(ControlMode.Velocity, shooterSpeed);
}
topShooter.set(ControlMode.PercentOutput, shooterSpeed);
if (manipJoystick.getRawButton(7)==true){
topShooter.set(ControlMode.Velocity, (shooterSpeed * -1) - 3000);
}
if (manipJoystick.getRawButton(3)==true){
topShooter.set(ControlMode.Velocity, shooterSpeed * -1);
}
if (manipJoystick.getRawButton(11)==true){
topShooter.set(ControlMode.Velocity, shooterSpeed * -1);
}
limelightTracking();
if (manipJoystick.getRawButton(1)==true){
ledMode.setValue(0);
if (limelightHasValidTarget){
turretControl.set(ControlMode.PercentOutput, m_LimelightSteerCommand);
}
else{
turretControl.set(ControlMode.PercentOutput, 0);
}
}
else { ////
ledMode.setNumber(0);
if (manipJoystick.getRawButton(4)==true){ //backwards
turretControl.set(ControlMode.PercentOutput, -0.5);
}
else {
turretControl.set(ControlMode.PercentOutput, 0);
}
}
double feederSpeed = 0;
if (manipJoystick.getRawButton(2)==true){
feederSpeed = -0.7;
}
feederWheel.set(ControlMode.PercentOutput, feederSpeed);
double intakeSpeed = 0; ////
if (manipJoystick.getRawButton(2)==true){
intakeSpeed = -1;
}
if (manipJoystick.getRawButton(5)==true){
intakeSpeed = -0.8;
}
if (manipJoystick.getRawButton(8)==true){
intakeSpeed = 0.5;
}
intakeSystem.set(ControlMode.PercentOutput, intakeSpeed);
double elevatorSpeed = 0; ////
if (manipJoystick.getRawButton(6)==true && manipJoystick.getRawButton(10)){
elevatorSpeed = 1;
}
if (manipJoystick.getRawButton(12)==true){
elevatorSpeed = -1;
}
elevatorMaster.set(ControlMode.PercentOutput, elevatorSpeed);
intakeArms.set(Value.kOff);
if (driverJoystick.getRawButton(1)==true){
intakeArms.set(Value.kForward);;
}
if (driverJoystick.getRawButton(2)==true){
intakeArms.set(Value.kReverse);;
}
ratchetArm.set(Value.kOff);
if (manipJoystick.getRawButton(6)==true){
ratchetArm.set(Value.kReverse);
}
if (manipJoystick.getRawButton(12)==true){
ratchetArm.set(Value.kForward);
}
}
@Override
public void testInit() {
}
@Override
public void testPeriodic() {
}
public void limelightTracking()
{
// These numbers must be tuned for your Robot! Be careful!
final double STEER_K = 0.04; // how hard to turn toward the target
final double min_command = 0.025;
double tv = NetworkTableInstance.getDefault().getTable(“limelight”).getEntry(“tv”).getDouble(0);
double tx = NetworkTableInstance.getDefault().getTable(“limelight”).getEntry(“tx”).getDouble(0);
if (tv < 1.0)
{
limelightHasValidTarget = false;
m_LimelightSteerCommand = 0.0;
return;
}
limelightHasValidTarget = true;
// Start with proportional steering
double steer_cmd = 0.0;
if (tx < 0) {
steer_cmd = tx * STEER_K - min_command;
}
else if (tx > 0) {
steer_cmd = tx * STEER_K + min_command;
}
m_LimelightSteerCommand = steer_cmd * -1;
}
}If you are using the Andy Mark kit bot, Make sure you are using the correct length bolts to attach the falcons to the Tough Box mini gear boxes. We made the mistake of using the kit bot bolts and had issues with the motors being locked because of bolt interference…luckily we found the issue before any Falcons were damaged.
Thanks for the warning. We make our frame out of 1x2 aluminum, and we are using the 3 stage single speed gear box from west coast products. I’ll double check our bolts aren’t interfering with anything.
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