Thread: CAN on the entire 2012 robot
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Unread 04-10-2012, 15:16
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Phalanx Phalanx is offline
Formerly Team 1089 (Mercury)
AKA: Michael Reffler
FRC #5431 (Titan Robotics)
Team Role: Mentor
  
Join Date: Jun 2005
Rookie Year: 1999
Location: Lewisville, TX (previously NJ)
Posts: 384
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Re: CAN on the entire 2012 robot
Hi everyone,

Team mercury 1089 has used CAN in a variety of different setups with varying results.

We used CAN over our entire robot in 2010, and while it worked well, it did suffer from "brown out" conditions which caused our robot drive to stop functioning. As long as we didn't brown out, it worked well.

This past year we used CAN and the PID built into the Jaguar to manage our shooter motor, but, we used PWM with JAG's to run the drive system. We did find a bug in the Labview Periodic Status Update VI that would throw an error, but once we knew the condition and the bug, we suppressed that error.

When the JAG browns out it "forgets" your CAN configuration settings(it still remembers it's ID number) and resets to PWM operation mode by default. We really need to write some code to detect the brown out condition and reinitialize the JAG with our settings.
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