Chief Delphi - CANJaguar timeout on cRIO startup

This is the third year out team is using CAN, but this problem has me stumped.

We just updated the firmware on a new black jaguar (v100 from ti.com/jaguar) and assigned it board ID 1. We have a new 4-slot cRIO imaged with the NI cRIO Imaging Tool, and we are using WindRiver C++ for programming with latest workbench/WPILib update from FIRSTForge.

The jaguar worked fine when controlled manually by BDC-COMM, but when connected to the cRIO, we are getting an error in sendMessage(), CANJaguar.cpp line 460: JaguarCANDriver timed out while waiting for a response.

Here is the code we used, basically the sample IterativeRobot with everything commented out:

Code:

#include "WPILib.h"

#include "CANJaguar.h"



class BuiltinDefaultCode : public IterativeRobot

{

        

        CANJaguar *motor;

        

        // Local variables to count the number of periodic loops performed

        UINT32 m_autoPeriodicLoops;

        UINT32 m_disabledPeriodicLoops;

        UINT32 m_telePeriodicLoops;

                

public:



        BuiltinDefaultCode(void)        {

                printf("BuiltinDefaultCode Constructor Started\n");



                // Initialize counters to record the number of loops completed in autonomous and teleop modes

                m_autoPeriodicLoops = 0;

                m_disabledPeriodicLoops = 0;

                m_telePeriodicLoops = 0;



                printf("BuiltinDefaultCode Constructor Completed\n");

        }

        

        

        /********************************** Init Routines *************************************/



        void RobotInit(void) {

                // Actions which would be performed once (and only once) upon initialization of the

                // robot would be put here.

                

                motor = new CANJaguar(1);

                

                printf("RobotInit() completed.\n");

        }

        

        void DisabledInit(void) {

                m_disabledPeriodicLoops = 0;                        // Reset the loop counter for disabled mode

                

                // Move the cursor down a few, since we'll move it back up in periodic.

                printf("\x1b[2B");

        }



        void AutonomousInit(void) {

                m_autoPeriodicLoops = 0;                                // Reset the loop counter for autonomous mode

                

        }



        void TeleopInit(void) {

                m_telePeriodicLoops = 0;                                // Reset the loop counter for teleop mode

                

        }



        /********************************** Periodic Routines *************************************/

        

        void DisabledPeriodic(void)  {

                static INT32 printSec = (INT32)GetClock() + 1;

                static const INT32 startSec = (INT32)GetClock();





                // increment the number of disabled periodic loops completed

                m_disabledPeriodicLoops++;

                

                // while disabled, printout the duration of current disabled mode in seconds

                if (GetClock() > printSec) {

                        // Move the cursor back to the previous line and clear it.

                        printf("\x1b[1A\x1b[2K");

                        printf("Disabled seconds: %d\r\n", printSec - startSec);                        

                        printSec++;

                }

        }



        void AutonomousPeriodic(void) {

                

                m_autoPeriodicLoops++;



                

        }



        

        void TeleopPeriodic(void) {

                // increment the number of teleop periodic loops completed

                m_telePeriodicLoops++;



                motor->Set(0.5);



        } // TeleopPeriodic(void)



};



START_ROBOT_CLASS(BuiltinDefaultCode);

We tried switching out CAN cables, re-imaging the cRIO, and rewriting firmware on the Jaguar. Oddly, PWM worked perfectly when we tested it out, only CAN is having problems.

Thanks in advance!