[nuttle]

FWIW, team 2641 also had CAN timeout issues at init time, using a 2CAN. We have 8 Jags on CAN, and pretty consistently saw errors before we ever started to drive, with the robot on a stand and so not much current being drawn from any of the motors (all 8 were part of a 4 drive/4 steer holonomic drive system). Also, this happened with a fresh battery. We saw some non-zero error counts when using the 2CAN web page (the 2CAN was only connected to a laptop in this configuration). We tried using the 2CAN web page to drop the bus speed for the CAN bus, but this didn't seem to help. We eventually switched to using the serial connection, and everything cleared up. Our 2CAN is from last season. We have short CAN cables (the Jags are all reasonable close to each other) and a good terminator. However, we do not use twisted pair wiring for the CAN bus, is this reccomended with the 2CAN? Just to note, the Jags are all powered by short 10-gauge connections to the 8 40-amp connections on the power board.

We'll try the new 2CAN firmware, but any other helpful advice would be appreciated. For other teams who might have trouble in the future, trying to lower the speed of the CAN bus to the lowest setting is probably worth a shot. Also, having code that handles timeout exceptions is a very good idea (we use Java and have a state machine that cycles through all of the steps we need to set up a Jag, this checks the power cycled condition after any error and if there has been a power cycle, resequences through the initialization states).