Procedure for Testing Motors on the testbenchΒΆ

  1. Hardware (Testbench)

    • Roborio/systemcore

    • PDP/PDH

    • Motor

    • Power Source/Battery

    • Circuit Breaker

    • CAN wiring

    • Any encoder/sensor being tested

    • Laptop/driver station

  2. Software configuration

    • WPILib

    • Phoenix 6

    • Motor CAN ID

    • Motor inversion

    • Neutral mode

    • Current limits

    • Voltage limits

    • Phoenix Tuner X

  3. Testing Procedure

    • Label the Motor with a Motor number/name

    • Secure the motor to the testbench.

    • Verify all wiring and CAN connections.

    • Establish a connection between Roborio/systemcore and Driver Station

    • Load Phoenix Tuner X

    • Enable the robot.

    • Using Phoenix Tuner, feed the motor direct voltage

    • Start with 1 volt and go up to 5 - 6 volts depending on the behavior of the motor

    • Verify the motor rotates in the expected direction.

    • Plot Stator Current, Supply Current, and Velocity

      • Kraken X60

        • Test Voltage: ~ 5 V

        • Velocity: ~ 50 RPM

        • Stator Current: ~1.1 A

      • Falcon

        • Test Voltage: ~ 5 V

        • Velocity: ~ 44 RPM

        • Stator Current: ~ 0.9 A

      • Kraken X44

        • Test Voltage: ~ 5 V

        • Velocity: ~ 75 RPM

        • Stator Current: ~ 2.2 A

    • Repeat the test in the reverse direction.

    • Observe any rumbling or loud, unusual noises

    • Disable the motor NOTE: Additional testing at different voltages and under load should be performed before concluding motor performance. This is only the free spin test.

  4. Recording

    • Motor Information

      • Motor type/model

    • Test Conditions

      • Applied voltage

      • Whether the motor was free-spinning or under load

    • Motor Measurements

      • Velocity (RPM)

      • Stator Current (A)

      • Supply Current (A)

      • Applied Voltage (V)

    • Motor Behavior

      • Unusual noises

      • Rumbling, screeching, clicking

      • Vibrations or wobbling

      • Skipping or inconsistent rotation

      • Changes in velocity or current

      • Any visible mechanical issues

    • Controller/Communication

      • Phoenix Tuner X faults

      • CAN errors

      • Motor controller warnings

      • Any unexpected behavior

    • Final Assessment

      • Good / Bad

      • Any important reasoning