FRC Characterization Tool won't generate with TalonFX

Hey everyone! I’m trying to generate a characterization project for our Drivetrain . I’ve generated projects for the Romi and for another robot that uses CANSparkMax motors with no problem. But, I can’t generate a project for our main bot which uses TalonFX motors. If anyone could help point out the issue here, I’d really appreciate it. Thanks!

    {
    # Ports for motors
    # If doing drive test, treat this as the left side of the drivetrain
    "motorPorts": [15,14],
    # Only if you are doing drive (leave empty "[]" if not)
    "rightMotorPorts": [17,1],
    # Class names of motor controllers used.
    # 'WPI_TalonSRX'
    # 'WPI_VictorSPX'
    # 'WPI_TalonFX'
    # If doing drive test, treat this as the left side of the drivetrain
    "controllerTypes": [WPI_TalonFX,WPI_TalonFX],
    # Only if you are doing drive (leave empty "[]" if not)
    "rightControllerTypes": [WPI_TalonFX,WPI_TalonFX],
    # Set motors to inverted or not
    # If doing drive test, treat this as the left side of the drivetrain
    "motorsInverted": [False,False],
    # Only if you are doing drive (leave empty "[]" if not)
    "rightMotorsInverted": [True,True],
    # Encoder edges-per-revolution (*NOT* cycles per revolution!)
    # For the CTRE Mag Encoder, use 4096 (4 * 1024 = 4096)
    "encoderEPR": 4096,
    # Gearing accounts for the gearing between the encoder and the output shaft
    "gearing": 1,
    # Encoder ports (leave empty "[]" if not needed)
    # Specifying encoder ports indicates you want to use Rio-side encoders
    # If doing drive test, treat this as the left side of the drivetrain
    "encoderPorts": [],
    # Only if you are doing drive (leave empty "[]" if not)
    "rightEncoderPorts": [],
    # Set to True if encoders need to be inverted
    # If doing drive test, treat this as the left side of the drivetrain
    "encoderInverted": False,
    # Only if you are doing drive (set to False if not needed)
    "rightEncoderInverted": True,
    # ** The following is only if you are using a gyro for the DriveTrain test**
    # Gyro type (one of "NavX", "Pigeon", "ADXRS450", "AnalogGyro", or "None")
    "gyroType": "NavX",
    # Whatever you put into the constructor of your gyro
    # Could be:
    # "SPI.Port.kMXP" (MXP SPI port for NavX or ADXRS450),
    # "SerialPort.Port.kMXP" (MXP Serial port for NavX),
    # "I2C.Port.kOnboard" (Onboard I2C port for NavX),
    # "0" (Pigeon CAN ID or AnalogGyro channel),
    # "new WPI_TalonSRX(3)" (Pigeon on a Talon SRX),
    # "" (NavX using default SPI, ADXRS450 using onboard CS0, or no gyro)
    "gyroPort": "SPI.Port.kMXP"
}

I haven’t looked at your config in great detail, but it appears to be ok. Is there an error being reported or anything? More information would be helpful. BTW, the integrated sensors have 2048 ticks per rev, not 4096, assuming these are what you’re using :slightly_smiling_face:

Motors need to be quoted.

3 Likes

You need to add quotations marks around WPI_TalonFX. Be sure to have your Characterization Tool updated too.

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