Issues with SDS Swerve and Rev Spark Max
维护者通常 1 天内回复
还没有人认领这个 Issue。
评估
调研方向
Start by reproducing the reported setup: an SDS MK4i drivetrain with REV Neo motors and CANandmag absolute encoders on SystemCore OS alpha 15 and WPILib 2027 alpha 7. Compare the relative and absolute position feeds in RHC2 and Glass with the encoders connected and disconnected. The issue does not identify a code entry point or test; done means determining whether the setup should work and what causes the random position data.
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描述
I am a mentor on a team that participated in the initial 2025 Alpha release of SystemCore (team 456). For our initial test we brought up an SDS MK4i drivetrain with Rev Neo's and canandmag absolute encoders in little time with no issues. We were really impressed with how well things went for an Alpha release.
For our 2026 offseason, we decided to repeat that process using the latest systemcore OS (alpha 15) and wpilib (2027 alpha 7). However, things are not going nearly as smoothly. We got through the WPILIB changes without too many issues. The vscode import process handled most of the library renaming issues, and the only real work was the change from SmartDashboard to Telemetry. However, we have run into a roadblock with Rev Neo motors on a SDS MK4i with canandmag absolute encoders. Nothing we try will get Sparkmax's to work when the encoders are connected. Unhook the absolute encoder, and the relative motor position data makes sense in both RHC2 and Glass (using Telemetry to publish data on the network tables). I haven't tried it, but I believe the robot would drive, assuming the robot is powered up with the steering motors in the zero position. However, plugin the absolute encoders and both the relative and absolute motor position data feeds might as well be random number generators (both in RHC2 and Glass). The problem might simply be some kind of missing inversion for the motors or the absolute encoders, but feels related to Rev's ongoing efforts to remove the scalefactor/unit stuff from their libraries. What is the current status on the Rev codebase? Should it be possible to make this work? Am I missing a firmware release?
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