We hare having some issues with our swerve drive. On out practice base everything is working. However, on our competition base we are using different encoders (Redux Helium Encoder vs CTR MAG Encoder) both connected to the SparkMacx using the aux data cable into the PWM input of the SparkMAX. Now these encoders give the same data EXCEPT that they are inverted from each other. We are using the build-in hardware PID controllers of the SparkMAX with the reference source set to the absolute encoders.
The behavior we are seeing is that no matter what we set the absolute encoder inversion to in the firmware (Rev Client) when we try to close the loop the inversion is ignored. There is a message that tells us that inversion of the absolute encoder is not supported when in brushless mode.
Is there a way around this issue? We are (HIGHLY) considering taking the time to swap the absolute encoders from the test drive base onto the competition robot, but this will take considerable effort.
Thank You