Does not work out of the box

[narmstro2020]

With Cancoder Azimuth Encoders and TalonFX Drive Encoders this code does not work out of the box. It compiles and loads into the RoboRio but only the forward command works. Strafing and Rotations perform nonsensical motions.

[AAbshagen76]

Couple of things to check.

1. You will need to set the offsets. My best suggestion would be to pull the power from your Azimuth motors. Set the wheels all the same way facing forward. From the drive controller I believe it is the A button will save the Azimuth offsets.
2. You likely will need to adjust the PID settings once you have the offsets setup.
3. Are you truly running a TalonFX for the Azimuth?
4. There are a few code changes that were required that have not been pushed out for this. I will check on the status of that.

[narmstro2020]

2. Please specify what and how to adjust the PID settings.
3. No we are using Cancoders for the Azimuth. TalonFXs for the Drives.

[AAbshagen76]

For the Azimuth what motors are you using?
Within PIDFSlot.java in the thirdcoast you would need to adjust the PID settings. This will require PID tuning your specific robot in the environment that you would drive on.

[narmstro2020]

The Azimuth is using SparkMax with Cancoders
http://www.ctr-electronics.com/cancoder.html

[narmstro2020]

An example. When we set the azimuth value to something small in testing like 0.1 and forward and strafe = 0, all four of the modules rotate and two along the diagonal rotate in the opposite direction from the two on the other diagonal. To me setting the azimuth to a value while all forward and strafe are 0 would cause the robot to spin like a top, but that is not happing. The wheels are spinning not the robot.

[narmstro2020]

Also the drive wheels move as well.

[AAbshagen76]

Also the drive wheels move as well.

That would be expected actually. I'd gladly setup an online meeting if you have ability to share a code screen and can show video. I have access to do the meeting if you have ability to attend on your side. Reach out to me on ChiefDelphi. @aabshagen