While testing closed loop velocity on the Talon SRX’s with the VersaPlanetary integrated encoders, we noticed that the value of the encoder switches from negative readings to positive readings about 1 second after the motor starts to spin. Has anyone else had this issue? If so were you able to fix it?
What’s the measured velocity when the wraparound occurs? Does it exceed ~4800 RPM?
There was a bug in firmware 2.22 that would cause this behavior. We’ve documented it in Section 21.28 of the Talon SRX Software Reference Manual and released a new firmware version (2.23) that fixes the issue.
You can download the updated firmware here.
Thanks for the response we are updating our talons now.
Bumping thread to point out latest Talon SRX Firmware was updated a few days ago. See release notes or software reference manual for details.