Falcons not braking

We have 4 falcon 500s on our drive train and after setting them all to brake mode through code and manually through the Phoenix turner one of the motors still seems to be in coast mode. Does anyone know why it could be doing this? When we stop the right side continues to go and we can’t drive properly due to it.

Does the motor keep going forever (until you disable), or does is gradually slow down to zero? If it keeps going forever, it probably means your code is not setting the motor percent or velocity to zero after you are done driving. The motors will “remember” the last command received if no new command is given.

It does not go forever. It gradually slows down and stops over a second or two.

The next thing I would look at is your ramp rate. If you are using falcon.set(ControMode.PercentOutput, percent) then you should look at your open loop ramp rate (configOpenloopRamp). If you are using falcon.set(ControlMode.Velocity, velocity) then you should look at your closed loop ramp rate (configClosedloopRamp).

We don’t have a ramp rate set and when we did set one, there was no change

Well, if you are setting brake mode - falcon.setNeutralMode(NeutralMode.Brake), and setting your open loop ramp rate to a very small value - falcon.configOpenloopRamp(0.2), and turning off the motor - falcon.set(ControlMode.PercentOutput, 0), then it should stop quickly. If you are doing all this, can you share the code where you are creating and configuring the motor and also where you are controlling the speed of the motor?

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