Quote:
Originally Posted by mjcoss
Here's what we were planning:
One item that we've seen that has lead me to point a finger at the 2CAN is that on our robot we have an onboard compressor. We have noticed that if during autonomous if the air pressure in the system is low and the compressor needs to run immediately, we get the flood of CAN bus messages. It is as if the run all 4 CIM motors, plus rehome the lifter, plus drop the arm, plus run the compressor is a trigger for the failure My theory is that the voltage drop is causing a failure in the 2CAN. Of course, it could be something completely unrelated.
We are going to St. Louis and I'm seriously debating whether we should rewire the bot to use PWM cables.
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Its my understanding that the 2CAN wont drop out till about 6 volts. Regardless are you wiring it to the termination blocks or to the 12 regulated supply or the 24 volt regulated supply?
We had ours wired on the 24v line parallel to the solenoid bumper. We had dropouts fairly often but when it happened we saw the PHY lights go out on the connector. We switched the 2CAN to port 2 and had another dropout some time later. We then swapped out our radios (we had issues) and never had a dropout since. We also developed a pre-match procedure where one of the drivers logged into the 2can and checked to see that all the jags were online. Once we started and only one jag showed up. Quick power cycle and all of them were back online.
I'm going to write a quick java applet that will display the 2CAN status information without the need to open a browser (aka have it pop up with the driver station on load)