We have been trying to read an encoder connected to a TalonSRX. We have it in voltage control mode, but are trying to read the velocity from the encoder.
However, we have come across some behavior that we can’t understand. When we have an encoder plugged into the talon, even when the talon is in voltage control mode, it causes the talon to make the motor jitter and move slowly. The talon works fine if I remove the encoder (without changing the code).
Why is the encoder affecting how the talon works when the code tells it not to use the encoder?
Which voltage control mode are you in? Percent VBus or Voltage Compensation?
You may have some soft limits set on this talon. They are elephants and never forget. So if someone set limits a long time ago, they may be stored in firmware. Check the web dashboard to see if that is the case.
Check Steve’s idea first. If that doesn’t pan out, check how your encoder is wired, potential issues you are looking for include:
- Intermittent short from power to ground
- Connection to limit switch pin instead of encoder pin (if wiring direct)
- Swarf or other short on limit switch pins (if using breakout)
- Defective encoder causing intermittent short from power to ground.