PF Velocity Controller on Falcon's keeps oscillating between 0 and setpoint?

We have another falcon and that’s fine. We have a flywheel but the other talon is being slaved to the master. Are gains are 0.0455 for kF and 0.02 for kP. Could this be because our encoders are messed up?

I suspect they may be fighting each other,. Turn each and verify sensor direction, then verify motor direction.

What happens with zero p?

It was simply a battery issue, we swapped them and it fixed it.

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That initially doesn’t sound Iike a battery issue to me unless it was REALLY dead

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Physical problems with the battery to pdp wire connection can cause that behavior.

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