Ramsete Controller with Falcon 500

Has anyone been able to get the falcon 500 working well with a ramsete controller? During testing, encoder values always seem off. Any ideas?

We’ve been able to use Falcon 500s with Ramsete. Is it possible you’re making a unit conversion error when going from Falcon CTRE native sensor units (2048 units per rotation) to meters?

It would be beneficial if you describe the type of problem you seem to be having. That would allow us to better help you.

Motor Config:

//Clears the motor controllers faults
m_leftFront.clearStickyFaults();
m_leftBack.clearStickyFaults();
m_rightFront.clearStickyFaults();
m_rightBack.clearStickyFaults();

m_leftFront.configFactoryDefault();
m_leftBack.configFactoryDefault();
m_rightFront.configFactoryDefault();
m_rightBack.configFactoryDefault();

//Sets the Back motors to follow the front

m_leftBack.set(ControlMode.Follower, m_leftFront.getDeviceID());
m_rightBack.set(ControlMode.Follower, m_rightFront.getDeviceID());

//Determines which motors will be inverted
m_leftFront.setInverted(InvertType.InvertMotorOutput);
m_leftBack.setInverted(InvertType.FollowMaster);
m_rightFront.setInverted(InvertType.None);
m_rightBack.setInverted(InvertType.FollowMaster);

//Sets the motors to brake mode
m_leftFront.setNeutralMode(NeutralMode.Brake);
m_leftBack.setNeutralMode(NeutralMode.Brake);
m_rightFront.setNeutralMode(NeutralMode.Brake);
m_rightBack.setNeutralMode(NeutralMode.Brake);

m_leftFront.configSelectedFeedbackSensor(FeedbackDevice.IntegratedSensor, 0, 10);
m_rightFront.configSelectedFeedbackSensor(FeedbackDevice.IntegratedSensor, 0, 10);

rightEnc = m_rightFront.getSensorCollection();
leftEnc = m_leftFront.getSensorCollection();

Getter Methods:

public double getLeftDistance() {
     return m_leftFront.getSelectedSensorPosition() * k_encoderConstant;
 }

  public double getRightDistance() {
     return m_rightFront.getSelectedSensorPosition() / k_encoderConstant;
  }

When I access these methods the right distance returns NaN and when updated it returns infinity and leftDistance returns 0.

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