Quote:
Originally Posted by Peleg2230
Phalanx, do you have any tips / important notes for working with the CAN?
I will probably test that after our offseason competition and I want to make sure I will have all the information needed.
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Sure... Here are top tips....
1) Make sure you have good termination. Poor terminating has been the cause of more nightmares and headaches than anything else.
2) Don't overtax the CPU on the CRIO. When than happens the serial port bogs down, responses get slow, CAN errors tend to crop up.
3) Don't send the run at xxxx speed every loop (20ms) in teleop. I find that that adds too much traffic and floods the serial port. Just set it once, and then check it in a periodic loop (I like the 100ms loop for that). The Jaguar will do it's best to maintain that speed for you. You only need to tell it when you want to change it. It's kind of like, set it once and forget it.