We are trying to do some testing on a PID loop; we are logging shaft velocity, supply current and voltage, and output velocity and voltage.
We upped the frame rate (just for testing!) with
falcon1.setStatusFramePeriod(StatusFrameEnhanced.Status_1_General, 1, kTimeoutMs);
falcon1.setStatusFramePeriod(StatusFrameEnhanced.Status_2_Feedback0, 1, kTimeoutMs);
falcon1.setStatusFramePeriod(StatusFrameEnhanced.Status_4_AinTempVbat, 1, kTimeoutMs);
that upped the reporting rate for the voltages, but the reported current is still only updated every 50ms or so.
What type of status frame contains the current information?