[Peter Randall]

Folks,

I am trying to use CAN with the 2CAN interface and Labview. My objective is to use the quad encoder on a CIM motor to control the speed of my shooter. I am having real problems getting the CAN to work reliably. I can recreate my problem with the basic FRC framework with the code from the CAN Speed Control Encoder split between Begin and Teleop

I can configure and test the simple motor controls without error. As soon as I add a “sophisticated” control, either the CAN PID using a quad encoder or even the 4 motor drive, I start to get -44087 errors.

ERROR <Code>-44087 occurred at NetComm_CAN_Receive.vi:47
FRC: JaguarCANDriver timed out waiting to receive a response from a Jaguar

I have tried to isolate the offending code and it is elusive. I have replaced the following:
All new Black Jags
Updated firmware
Swapped out the CAN cables and terminating resistor
Tried both RS232 and 2CAN with same results
I have re-imaged the cRIO with the correct CAN Driver Plugin
Swapped out quad encoders
If I run deployed compiled code it runs more cleanly than interactive code

When I run the sample CAN Speed Control Encoder and put a wave chart on the Get Status Speed after the Set Output, I get intermittent breaks in the RPM curve that correspond to a physical stuttering of the motor. They also seem to be tied to the Time Out error on the driver station

If I whip saw the desired speed (something I would generally avoid), I hear a click and then the Jag refuses to respond. It is not the fuse, but appears to be in the Jag. If I reboot, it comes back on line, but there is no other way to restart the Jag.

Any thoughts or suggestions would be appreciated?

Thanks