When running a CAN with multiple Spark Max motors, we are seeing a periodic Red Flash on the PCM. With all Spark Max motors removed or single Spark Max, we do not have this issue.
(Our bot is designed to run with 7 Spark Max and 4 Talon SRX all on CAN. All have unique CAN ID numbers.)
We have increased the periodic frame rate to max. This helps in that the errors are less frequent, but they do not disappear.
A very easy way for us to see the problem is plotting the velocity and sending a steady signal. We then get an intermittent time when the input is still full, but the motor stops. When the brake is on, you hear and see the motor jump. (Fastened down next to our test fixture.)
We are minimizing this currently in the drive system by having the motor in coast mode. For our lift system, it needs to be in brake mode.
We are coding in C++. We have the latest Rev Spark Max client version 1.0.0. We have the latest firmware loaded (1.1.31). Lastest C++ API version 1.1.9.
You can find our source code here: https://github.com/Team2959/2019DeepSpaceRobotProject
The LiftAndShuttleSubsystem and DriveTrain with VelocityDriveTrain use the Spark Max.
Thank you for the help!
FRC #2959 CW Tech Robotarians