Kraken Drive Motors Coasting when autonomous disabling

[narmstro]

Our Kraken Drive swerve when moving and autonomous ends won’t break, but coast. Is there a setting in tuner to prevent this.

We’ve hit our poor field wall a few times too hard.

[narmstro]

We are setting brake mode in the code, does it have to be set in the tuner as well.

[Braykoff]

The config should persist. It may be a code error, something changing it back to coast when auto ends. Can you link your github/code?

[narmstro]

Relevant parts

                                        config.Voltage.PeakForwardVoltage = 12.0;
                                        config.Voltage.PeakReverseVoltage = -12.0;
                                        config.TorqueCurrent.PeakForwardTorqueCurrent = 40;
                                        config.TorqueCurrent.PeakReverseTorqueCurrent = -40;
                                        config.Slot0.kP = Constants.wheelkPs.get(i);
                                        config.Slot0.kI = Constants.wheelkIs.get(i);
                                        config.Slot0.kD = Constants.wheelkDs.get(i);
                                        config.Slot0.kV = Constants.wheelkFs.get(i);
                                        config.Slot1.kP = Constants.wheelFOCkPs.get(i);
                                        config.Slot1.kI = Constants.wheelFOCkIs.get(i);
                                        config.Slot1.kD = Constants.wheelFOCkDs.get(i);
                                        config.Slot1.kV = Constants.wheelFOCkFs.get(i);
                                        config.MotorOutput.NeutralMode = NeutralModeValue.Brake;
                                        TalonFX wheelTalonFX = Motor.CTRE.createTalonFX.apply("CANIVORE")
                                                        .apply(Constants.wheelDeviceIds.get(i));
                                        wheelTalonFX.getConfigurator().apply(config);