We are experiencing problems with our falcon swerve drive module, the wheel will not move and the motors are blinking orange, we have checked the CAN line after they didnt show in phoenix tuner, and swapped breakers after that didnt come up with any problems.
Edit: we also found out the talon FX is disabled, does anyone know how to enable the talon FX
Which blinking orange pattern do you have?
If you have both LEDs blinking orange simultaneously, the robot needs to be enabled from the driver station to enable the Talons. If the LEDs are alternating orange on one side and off on the other, then something is not right with your program and the Talon won’t enable because there is no working object in the code to control it.
It is alteraternating orange and we are going to check out the code now, thanks!
Looking at the code we found that the Talon FX objects were created and called in the same way as the other three working modules. In Thursday the robot had been working perfectly fine and without changing the code between then and now it’s broken.
Alternating orange could be showing due to a code issue. But, it can also mean there is a wiring issue between the Talon FX and the roboRIO (that is, CAN connectivity is definitely not good). I do realize you already said you checked your CAN, but triple-check your CANbus, especially if this module is furthest from the roboRIO.
There’s a separate “No signal” color code, alternating red, but that only shows up when the FX sees no other devices, including other motor controllers or sensors, on the bus.
There’s more different color codes that probably don’t apply here but are good for future reference - see the user guide for more info.
So at one point some Talons did not show in Tuner? How many did not show? Did the non-working motor show? I’m assuming the current status is that all of the Talons are showing in Tuner, but maybe that is not the case. if the non-working motor is not showing in Tuner, a CAN problem is likely. Are you seeing error messages related to CAN in the driver station?
One way to check your CAN wiring from the perspective of the problem motor is to disconnect the CAN wires of the problem motor from the bus and then check the resistance across the yellow and green wires on the bus-side. The wires going in the roboRIO direction and the wires going in the PD(H/P) direction should both show something close to 120 ohms. If either direction shows open (infinite ohms), shorted (0 ohms), or something much different than 120 ohms, there is a problem that needs to be addressed.
You joined the darkside
Come to practice tonight, i don’t think the claw is working either and we could use all the help we can get
All of our Falcons are showing in the Tuner other than our problem module motors and CANcoder. We’ll definitely check the ohms on each side at our practice tonight though thanks!
Ok
If three devices are missing from Tuner, start your checks at whichever device is closest to the roboRIO on the CAN bus. If the problem is there, it would take out whatever is further away from the roboRIO, even if that wiring is good.
Make sure yellow is connected to yellow and green to green. It seems hard to mess up but I’ve seen it many times. If you are using the typical “DuPont” connectors, make sure that all the pins are pushed all the way into the connector sockets and are latched. This is especially important if you are using any jumper wires you made yourself. Look for cut, broken, or detached wires. If the CANcoder is closest to the roboRIO, check the soldered connections to the circuit board. Make sure all wires are still soldered in and there are no bridges across green and yellow.
A good strategy is to work your way down the chain of devices measuring continuity . Once you get past a component and no continuity you know something is wrong. Put one probe at the start and go with the second probe down each device , just because a cable/connector looks good doesn’t mean it is .
We fixed the issue and have the robot working, it was a can line connection that we didnt check, thank you all for your help