Quote:
Originally Posted by jtdowney
R50A states "The DAP-1522 radio is connected to the cRIO-FRC Ethernet port 1 (either directly or via a CAT5 Ethernet pigtail)." We took this to mean that under no circumstance can an active device (2CAN) sit between the DAP-1522 and the cRIO. That leaves two choices, connect the 2CAN to the DAP-1522 or connect the 2CAN to Ethernet port 2 on the cRIO.
My teams robot (programmed with Java using IterativeRobot) has gone through one event with our 2CAN plugged into our DAP-1522 and have had no CAN related trouble. We were running cRIO v28 (v29 wasn't out at the time) and 2CAN firmware v2.5 with the SVN rev 66 plugin on the cRIO. We have 6 black jaguars on the CAN bus with no sensor inputs or limit switches.
Perhaps we were very fortunate during our regional but we have not had any serious CAN issues (knock on wood) since build. All of our trouble then could be traced back to poorly made cables when we did have problems.
I am hoping our luck caries us through championship.
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Greetings,
R59 adds some expansion to R50 stating:
<R59> If CAN-bus communications are used, the CAN-bus must be connected to the cRIO-FRC through either the Ethernet network connected to Port 1, Port 2, or the DB-9 RS-232 port connection.
Our 2CAN connection directly to the radio is probably a rule violation (inadvertent) but was an attempt to prevent errors when we were connected (legally) to port 1. A port 2 to 2CAN connection will be our next experiment to try to avoid this issue.
john