I’m trying to get WPILib’s odometry running for our swerve base, but I’ve noticed some odd behavior with the internal encoders in the Neo drive motors. At random times, some of the encoder values jump to much higher or lower values than the rest of the encoders. Here’s a picture of the raw encoder readouts:
After driving forward slowly, three of the encoders were at relatively similar values and one was much lower. I’ve checked DS logs and verified that the CANBus is functioning properly (~40% utilization with no packets dropped), so it’s either a problem with the Neos or with the Rev API. Since brushless motors need encoders to function properly and everything works fine driving in TeleOp, I would assume that the issue isn’t with the Neos themselves. Does anyone have thoughts on what the problem could be?