1.3.4. Firmware requirements (PWM and CAN bus)
Typically a Talon is shipped with firmware version 0.28. Teams should always check the FRC game
rules to determine what is the required minimum firmware version for Talon SRX (PWM / CAN bus).
Teams that utilize CAN bus will likely want to field-upgrade to the latest available firmware for the
latest features and improvements (1.1 or newer). Instructions can be found in the Software
Reference Manual. Additionally teams may need to field-upgrade to meet the minimum firmware
version in the FRC game rules.
Teams that utilize PWM may still require a firmware update if an out-of-the-box Talon has older
firmware than 0.28. Firmware that predates 0.28 will have these symptoms:
Press and holding B/C CAL Button will not enter calibration mode (red/green LED
blink).
Limit switch features not present (closing limit switches has no impact).
Boot up sequence will illuminate the B/C CAL Button for ~500ms.
1.3.4.1. PWM - Checking firmware version
As a result, it is recommended that teams using PWM first determine if a Talon has adequate
firmware by press and holding the B/C CAL button and confirming that the Talon enters calibration
mode (LEDs will blink a red/green pattern). See Section 2.2.1 for full procedure on entering
calibration mode.
IMPORTANT --- Do not drive the Talon while performing these steps unless you deliberately want to
recalibrate your Talon. For this reason, it’s best to perform this check while robot is disabled. As a
result, when you release the B/C CAL button, the Talon will blink red, indicating that it did not modify
the calibration data.
If the Talon does enter calibration mode (does blink red/green) then it has adequate firmware for
complete PWM functionality and no more steps are necessary (however FRC legality should be
checked against the game rules).
If the Talon instead just changes the brake LED (brake vs. coast) and does not enter calibration
mode then it needs to be updated once using CAN bus. See Section 1.3.4.2 for a simplified
procedure on how to do this.
Additional functional limitations of the “ship” firmware may be found in section 21 of the Talon SRX
Software Reference Manual. Although most of the limitations relate to CAN bus features, it is
recommended that teams always check section 21 for additional functional limitations that may affect
them.
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