My team has been trying to get our robot to drive with an XBox controller however every time we press any buttons or move the joysticks around, the Driver Station gives us an error which looks like this.
We’ve already installed the phoneix libraries to the RoboRIO, however when we go to check the devices through Phoenix Tuner, nothing shows up. The victors pulse red however when we hard code some values for the motors, they move.
The victor’s green and white wires are plugged into the PWM section of the RoboRIO.
There are two ways to use these motor controllers: CAN and PWM. The class used in programming needs to match the way they are physically wired up. It sounds like you are trying to use them in CAN mode (in code, trying to use Phoenix Tuner, etc), but you have them wired to the PWM pins. You need to either switch your code to use the PWMVictorSPX class, or wire the victors to the CAN connectors on the roboRIO.
I haven’t tried PWMVictorSPX yet but that’s probably going to fix the problem.
I was wondering though, if we wanted to use CAN, how would we wire it up as there’s only enough ports for 1 motor?
I’ll test out the PWMVictorSPX class and let you know if we have any other questions.
Thanks!
CAN is a daisy chained bus. So you connect to one controller, then then next, etc. The last node on the bus should be the PDP, as the bus needs to be terminated on both ends, and the RoboRIO and the PDP have internal termination. Individual CAN motor controllers are programmed with IDs to disambiguate them.
