[Phalanx]

Hi John,

We also used CAN, but with all BLACK JAGS and 2CAN. We didn't have any issues at all with it.

I can answer a few of your questions base on how we did things.

1) We power 2CAN from the raw 12V on the PD. We didn't experience any brown outs even when applying full power to 4 cims and 4 banebots simultaneously. I will say that low battery voltage, bad terminators, faulty wiring are the biggest contributors to CAN network problems.

2) We haven't experienced that issue, however, the 2CAN web page is only supposed to be accessible when attached to CRIO Ethernet Port 1, which is great for diagnostics, but is not allow in competition. 2CAN must be on port 2 in competition mode, it's a clearly defined rule. The only question that comes to mind is the 2CAN connect to the Wireless Bridge/AP. If it is, that could explain some the packet loss.

3)There is a "TRUSTED" mode that CAN uses for FIRST and it requires FIRST specific firmware on the JAGS. Level 92 I believe is the latest. It shouldn't have any negative impact on the FMS. We certainly didn't experience any through 9 qualifying rounds plus QF's, SF's and Finals.

4 & 5) I haven't seen or experienced either of those.

6) I took no chances and FTP'd the latest 2CAN driver to the CRIO after I installed V28.