[mjcoss]

Sorry that I haven't replied sooner just been busy. So we are using the 2CAN and we're programming in C++. So for us, the points on the chain that can be an issue are the 2CAN, the Jaguars, and the port on the cRIO, and all the software in between. Most of which is not mine.

I've two platform that I'm testing on. The first is a drive base, and the second is a prototype shooter. The shooter is running the Jaguars in speed control mode, the drive base is running in the default mode, %V I think. Both are seeing timeout, although the shooter is having more issues than the drive base. Both are using CIM motors. Although I suspect that the load on the drive base is higher than on the shooter.

The code is pretty clean in that I'm not doing a whole lot. Tank drive on the base, and taking analog input on the driver station to drive the shooter. Updates to the motors are in TeleopPeriodic, and there just aren't that many knobs that need to be tweaked to make that work.

What we've seen is that on the shooter, sometimes during the boot up, the 2CAN get's very unhappy. Flashing red/yellow. Sometimes it boots just fine. If we make it past the boot problems, it tends to stay clean. Then while shooting, it sometimes completely drops out CAN bus communications is completely gone, and the console log if full of timeout messages. The only recovery is reboot.

The failure mode on the drive base is periodic timeout messages. Usually just a few off and on. I have seen it have the cascade failure but only once.

We do have the version 2 of the 2CAN, and the latest firmware on it, and the Jaguars.

I've already connected to each of the Jaguars using BD Comm, and flashed, set ids and so I'm kinda at a loss to understand what is going wrong.

The sync groups change didn't seem to have any affect. I guess I can try the LabVIEW code to see if it behaves differently

@techhelpbb - more than willing to work together on this. I'd like to get a better understanding of the failure modes and figure out some way to solve the problems.