We are currently having an issue with one of our arm motors being permanently inverted. A couple weeks ago, we re-wired our robot. Both arm motors were working perfectly fine before the rewiring; However, now one of them spins in the opposite direction. We have tried using the Tuner X application to set the inverts and changing the motor invert states through the code. Inverting through Tuner X was only temporary and inverting the motors through the code did nothing.
We had the same issue happen to two of our drive motors while we were practicing. On one of the motors, the issue went away. Still not sure how. But the other motor has had the issue for a while now and it has been persistent even after a factory reset through Tuner X.
This issue started on Phoenix Pro with Kraken X60s on BaseFalconSwerve. Would be curious to hear if anyone else has had this problem. Glad to see we’re not the only team facing these issues.
The only way we were able to fix the issue was to replace the motor on the swerve module.
My only idea would be BaseFalconSwerve having some issue when it migrated to V6. That seems to be the common factor between our code bases. We will be moving to the CTRE swerve generated code base tomorrow. I hope our issue goes away then.
After doing some testing, I can pretty confidently say it is a problem with BaseFalconSwerve. We switched to CTRE Swerve Gen and have had no problems. Its still very strange that our motor is permanently inverted, however. And we will probably be getting in touch with CTRE.