Thread: Unexplained intermittent CAN / 2CAN Jaguar problems at GSR
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Unread 28-03-2011, 08:25
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AKA: Mike Anderson
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Post Re: Unexplained intermittent CAN / 2CAN Jaguar problems at GSR
Hi Gang!

Team 116 used CAN at the DC regionals as well with V29 and saw the exact same type of stuttering behavior as many of the other teams:

1) Correct/Proper wiring both CAN and Power.

This is our 2nd year with CAN. I check the cables with my automated cable tester and all checked good. Termination using the 2CAN on one end and 100 Ohm terminator at the other.

2) Ground isolation of components.

Our Jags are on standoffs and are isolated from the robot chassis ground.

3) CAN Interface used, Serial or 2CAN

We were using the 2CAN with firmware 2.5 (3/13/11). This worked well at the Bayou regional except for one time with the CAN connect problem from V28.

4) Type of JAGS used, Black, Grey, Both

Mixture of both black and grey jags. All jags at Firmware V92.

5) The programming language used

C/C++

6) The control mode(s) used.

Voltage mode (we were trying to use position mode for autonomous but ran out of time)

7) encoders, pots, limit switches are being used.

No encoders, pots or limit switches were being used.


I spoke to Brad Miller at DC and described the problem and we were actually able to see a little of the problem in the pits with him standing there. He suggested changing the motor safety timeout, which we did. However, in the heat of eliminations, I don't recall if we saw the stuttering post change.
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HTH,

Mike
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