Kraken x60 refuses to run from code but will run from Tuner X

taciturnaxolotl · March 8, 2025, 4:20pm

I need help we are trying to run our kraken x60 and can control it from phoenix tuner but when we use the following code it won’t run at all. We are using VoltageOut with setControl to try and set a voltage of 10 volts which when we test VoltageOut in Tuner X we see the motor behaving as expected and moving. We disabled FOC and the limit switches in the motor config thinking maybe that was the issue, but that hasn’t helped either.

I’m sure its something really dumb but we have looked at other team’s code and the example code for multiple meetings and I’m not sure what else to do at this point.

github.com

df1317/2025-reefscape/blob/auto/vision/src/main/java/frc/robot/subsystems/ClimberSubsystem.java

/* ----------
 * Copywrite 2025 FRC team 1317 under AGPL-3.0
 * ----------- */

package frc.robot.subsystems;

import com.ctre.phoenix6.Orchestra;
import com.ctre.phoenix6.configs.AudioConfigs;
import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
import com.ctre.phoenix6.configs.HardwareLimitSwitchConfigs;
import com.ctre.phoenix6.configs.TalonFXConfiguration;
import com.ctre.phoenix6.controls.VoltageOut;
import com.ctre.phoenix6.hardware.TalonFX;
import com.ctre.phoenix6.signals.ForwardLimitSourceValue;
import com.ctre.phoenix6.signals.ReverseLimitSourceValue;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Constants.CanConstants;

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slowpoke111 · March 8, 2025, 5:34pm

This is just from quickly looking through the code, but do you ever run Orchestra.stop() before trying to run the motor.

Also, this might have been fixed, but I have had issues in the past having the same motor in different orchestras

taciturnaxolotl · March 8, 2025, 9:08pm

We just tried stop orchestra as well as just using setVoltage directly and it worked! That was our last test of the day, so not sure which fixed it but thank you regardless :))) I’ll post an update as to which it was monday.