We were at our regional today and one of our Talon SRXs on our drive train apparently stopped working, causing one side to have less power than the other.
Observations:
The motor shaft is still spinning because the other motor in the gearbox is driving it
The other motor is becoming very hot, as is expected in this type of situation
The motor flashes like all the rest in disabled
The motor controller shows solid orange LEDs when enabled and does not change (according to the documentation, this means the signal it is getting is 0 or within deadband)
In one of our matches, it did not seem to be a problem, but in the next one it was again (we didn’t notice the specific Talon SRX light difference until later)
Our setup is this:
Mecanum drive
One CIM for each front wheel
Two MiniCIMs for each back wheel (because of space constraints)
Second MiniCIM controller in each gearbox is in follower mode and follows the other controller
The front wheels with the CIMs are inverted
Things we have ruled out:
CAN IDs are correct
We switched to a new Talon SRX, no change
We believe this is a programming issue, but cannot find any errors. The code is located here.