Hey CD! Back with another fun issue.
See the image below. Focused on the Steer FR Falcon motor which is our steering motor on a new swerve drive chassis. Note this is for the Swerve Drive Specialties MK3 modules for reference.
We are trying to use the encoders on the Falcon 500 for positioning. We noticed that when enabling teleOP from this code (Shoutout to FRC 4048 for posting your code), we noticed the steering motors will not stop. They WILL respond to positive and negative commands, but would not stop spinning unless at 0.
So we manually inputted a position constant. What we noticed was the position constant was causing the steering motor to run continuously at a set speed. At a constant of “10”, the motor ran slower than at a constant of “30”.
That led me to believe there was an issue with setting the motors to run on “Position” and instead they are thinking to run on “PercentOutput”.
I then went to the Phoenix Tuner to isolate the issue and I was not able to get the motors to respond in the Control tab. I was able to show all CAN devices and all are separated out into their 8 individual slots and I know by the blinking response that we are trying to target the correct motor.
Can anyone offer up their expertise on programming the “Position” function with the Falcon 500 Encoders? We are trying to get the motor to run to a set position and hold as that is how I understand swerve is supposed to operate.
Thanks for any and all help on this!
