[Mr. Lim]

We are also seeing an occasional CANTimeoutException being thrown under brownout conditions.

Strangely, it is one Black Jaguar in particular that is always the one that goes first. It is connected to a CIM in our 4-motor drivetrain, and it is a "master" Jaguar, in that we have an encoder hooked up to it, and run it under speed control.

Under a fresh, full battery, the exceptions don't occur, but within a 2 minute match, the voltage certainly drops enough to start throwing these exceptions. We feel it is voltage related, as when we are in low gear, the exceptions never occur, whereas in high gear, they happen very frequently.

Our workaround so far has been to catch the exception, and re-initialize the Jaguars when they occur.

These seems to work decently well.

We've gone through the wiring several times, and can't seem to isolate why one Jaguar is more prone than the others. Less tolerant Jaguar? A CIM that likes to draw more current than the others? Your best guess is as good as mine...