[rrossbach]

Our robot has 8 Jags (4 black, 4 grey) running off of 2CAN, and we do a fair amount of runtime data logging on the cRIO for post-match analysis. We see occasional timeouts (approx every 20sec or so) but catch them so it has never really caused a control problem.

Interestingly, even when seeing timeouts we have never seen any CAN errors reported on the 2CAN webdash - assuming that the webdash is working correctly, that leads us to suspect that the occasional timeouts not caused by any wiring/comms issues with the CAN bus itself, but rather something else going on in the software stack within the cRIO.

Once nationals are over we're planning to test a variety of scenarios (running Jags off the 2CAN both with and without the cRIO, requesting tons of status info from the Jags continuously, etc) to try to collect very specific data on what scenarios provoke the timeouts. It's a great learning exercise for the students, and hopefully the data will help narrow down exactly what's going on. Can't promise exactly when we'll dig into this but we plan to post the "scenario design" we come up with and seek input from the community here.

- Ron
Team #2607 controls mentor