Quote:
Originally Posted by Hugh Meyer
John,
I may be misunderstanding your comment # 3. Please clarify if my comments don't make sense.
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3) We run the CRIO connection directly to the radio and connect the radio directly to the 2CAN rather than passing all CRIO traffic through the 2CAN.
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I thought the 2CAN was to be connected to the CRIO on port # 2. Since port # 2 is on a different network the traffic is isolated from the robot communication traffic on the wireless. That is how ours is wired and we just completed 2 regional events without any control issues. We had other issues, just not control ones...
It seems adding that additional load through the radio switch and robot communication network could indeed cause problems.
-Hugh
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Routing CAN traffic through the radio could certainly cause problems. The radio's ports have a limited amount of buffer space before the 802.3x congestion control messages start flying around on the net. I'm not sure what the 2CAN would do if it suddenly started getting a lot of source quench message traffic. Certainly, packets would start getting lost and that would be bad on a half-duplex style network like CAN (at least in the way it's implemented for FIRST). So, it's probably better to wire the 2CAN to port 1 on the cRIO and wire the radio on the other port of the 2CAN.
My $.02,
Mike