WPI_TalonFX cannot be slaved

[qhdwight]

From our testing, we could not get a WPI_TalonFX to follow another WPI_TalonFX. The master would spin, but the slave would remain idle with amber lights on. The issue can be fixed by:

• Disabling motor safety (feature of the WPI class) via setSafetyEnabled(false)
• Using the TalonFX instead without WPILib compatability Not sure if this is specific to our setup, or if it can be reproduced. This also affects the frc-characterization module since it uses WPI_TalonFX. Didn't work with our drive until I went into the generated java code and explicitly disabled motor safety. Then all worked nicely and all motors blinked green. vendordep version: 5.18.1 Falcon firmware version: 20.2.3.0 WPILib version: 2020.2.2

Also, the javadoc stub for the WPI_TalonFX class seems to be incorrect. It is currently:

/**
 * CTRE Talon SRX Motor Controller when used on CAN Bus.
 */
public class WPI_TalonFX extends TalonFX implements SpeedController, Sendable

[JCaporuscio]

Motor Safety requires explicit Set() calls periodically.

So for any WPI_ Phoenix motor controller you will need to either disable motor safety or call the follow() function periodically.