[boomergeek]

Team 241 had problems with CAN Jaguar Timeout on CAN messages, but only occasionally. (We were using 2CAN connected to 4 Jaguars using the 6p4c connections.

The main point of what we noticed is these occasional errors that would happen when we operated tethered or in a local mode without using the FMS system had no visible impact on the performance of robot.

HOWEVER, when we connected to the FMS system, these errors became much more frequent and the robot was unresponsive. We are guessing that these errors cause different behavior under the FMS control rather than simple tether control.

We debugged the code and found we had removed the wait(0.05) after each invocation of TankDrive().
We fixed the code to us wait (0.1) and we dramatically reduced the occurrence of these errors to maybe 5 per 3 minute interval when tethered in the pits and running the robot up on blocks.

When we connected again in our matches we saw the error continuously through the match and the robot was very sluggish.

I started reading around and noticed that the FMS sends special messages to robots that use the CAN (over and above the messages it sends to CRio).

QUESTIONS:
1) Are there a known set of errors that cause a robot to be dramatically differently under FMS control versus tethered control?

2) If so, is there additional hardware/software a team can typically use to get behavior that more consistently emulates FMS? (I.e., if the FMS is sending periodic watchdog commands and causing robots to halt for certain errors and causing greater loads, is there a simple way that can be done by a team in tethered mode?)

3) Is there a list of known coding bugs that cause performance problems in FMS mode but not tethered mode?