Limelight Drivetrain Tracking Issues

We are having trouble with our robot tracking reflective tape on our competition bot. We have tried it on a different bot and it works, but when we transfer the code and make changes to the correct calling names it grinds and stutters our motors. If anyone can help that would be great!

The drivetrain motors we are using are 6 Spark Max’s on a 3 motor shifting gear box.

If you need more information, let me know!

Looks like followers are not configured correctly. We would need to see code though

DriveTrain

I hope this helps, let me know if you need more info.

(Edit, I moved the tracking part to the true case instead of false because I deleted it earlier for testing purposes)

Try disabling your safety config, This just disables the motors from setting themselves to idle if they aren’t commanded after x seconds, But your motors will stop when disabled or e-stopped still.

I did that also to see if that works and it didn’t

Is the air charged on the robot? Are the motors all going the right way (not fighting each other)?

From what I’m seeing they are but the lights are stuttering those colors violently and making the grinding noise which confuses me. I made sure they are going the correct directions

(Air is also charged when doing it)

Is it studdering between orange and red or green? If so you are setting your motor speeds twice.

From what I see they are stuttering magenta and red or green when tracking. This is what I would assume is the jittery part of the drive train.