I’m having a bit of an odd problem with some Talons. When I try to drive the robot using a joystick (an Xbox controller to be precise), only two of the motors will drive at the desired speed. The other ones will limp along at a very slow speed or flat out refuse to move.
Currently I’m using a test bot that only has four talons connected, and they are all being used on the drive. There are currently no encoders, gyros, or any sensors hooked up to the robot. The talons are connected via a canbus, which is appropriately connected to the RoboRIO and PDP. All four talons are visible in the web interface, and they all have unique IDs. I can flash the lights on all four talons, and the lights flash on the appropriate physical device that matches the programmed talon. I have checked the canbus wire connections. The talons have all had their firmware updated to 2018 versions, and the roboRIO has been flashed.
The oddest part is that when I wrote a tester class that directly drives one motor at a time at a specified percent output, that motor works just fine. All four motors drive perfectly when using this class.
I have four mecanum wheels attached to a CIM each. I have tried using the WPI mecanum drive classes, the basic arcade drive classes (abandoning mecanum functionality in hopes of just getting joystick control but alas, no dice), and my own mecanum drive class. They all had the same problem. The robot is currently propped up on blocks so that I have a good view of how each wheel is moving.
Help and suggestions for troubleshooting would be appreciated!