Hi I am a programmer with FRC team 31 prime movers, and we are having a problem with programming the talons using java, to go to a specific speed with speed mode. We are using Mini-Cims (http://www.vexrobotics.com/217-3371.html) with the encoder (http://www.digikey.com/product-detail/en/AMT102-V/102-1307-ND/827015), set to maximum resolution of 2048 pulses per rotation which supports a maximum speed of 7,500 RPM which should be fine because the mini-cim maximum speed is 6,200 RPM. The problem we have is that the motor only works correctly when it is being told to go the maximum speed in either direction. For example it will hold 12.5V or -12.5V just fine, but if you try to give it a speed other than that it will either alternate between 12.5V and 0V or go between 12.5V and -12.5, which is obviously not the desired result and threatens to burn out the motor. Our final goal is to have a couple hard-coded speeds that we can set the talons to reach for the launching mechanism on our robot. I will attach the code being used below:
NOTE: only relevant code is included, assume that the robot functions properly other than the Talon
public CANTalon t1;
public int testNum;
public void robotInit()
{
t1 = new CANTalon(14);
t1.changeControlMode(TalonControlMode.Speed);
t1.setFeedbackDevice(FeedBackDevice.QuadEncoder);
t1.setF(0.04833);
t1.setP(0.001);
t1.setI(0);
t1.setD(0);
t1.configMaxOutputVoltage(12);
t1.configNominalOutputVoltage(12.0f, -12.0f);
testNum = INPUTTED SPEED; IE 500
}
public void teleopPeriodic()
{
t1.set(testNum);
System.out.println(testNum + " Speed: " + t1.getSpeed() + " Voltage: " + t1.getOutputVoltage());
}