I’m trying to characterize the drivetrain but, when running any forward or backwards test, it just spins around. The motors are going the right direction (both sides drive in the same direction), but one side drives much faster than the other, and it usually does a 360 before traveling in something that resembles a line. Controlling it with voltage, it drives roughly straight, so it’s probably not a problem of the drivetrain mechanically.
My project config is here:
I think it’s very likely that something is wrong in there
I’d check if you need to invert any motors and the actual motor values.
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Our robot did this in competition… Realized the USBs are out fo order in the driverstation 
, maybe it’s that?
The robot characterization doesn’t use joysticks so I don’t think that’s the issue.
That’s a good suggestion, maybe you have two motors fighting each other in your slow gearbox.
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Why are you inverting an encoder but not the drive motors?
That was our problem, highly recommend you check this and invert/uninvert if necessary.
I don’t think so, as the leds for each side displays the same color on both motors
I suspect that none of our changes to the config file are changing anything. We tried inverting several times and the behavior never changed.
That was just a test because we were confused. We tried basically all combinations of inverting encoders/motors but the lights on the falcons never changed. One set of motors was always red, and the other set was always green
Did you regenerate the project and deploy after?
Edit, just saw you had Talons, did you set the project type to talon? That was another one of our problems
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Why is your phoenix.json version 15.3.0? That’s from last year.
The config file says they use Talon FXs.
The program inverts the motors automatically but not the encoders. At least that’s our experience.
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