[Levansic]

Thanks Kevin and Greg! That makes sense, and explains why there isn't a free lunch.

I'm a little confused on the suggestion of measuring the CAN nodes. Is there an easy way to get a loop time for commands sent and the acknowledgement back?

We are using a total of six jaguars, four for the drive and two for the pick-up mechanism. The four drive jaguars are part of a sync group that is called within the standard WPI cartesian holonomic drive vi, and the two pickup jaguars are part of a sync group called from within a 100 ms loop in our periodic tasks.

We poll the two pick-up jaguars for the state of their limit switch inputs, and use that as an interlock for our pneumatic catapult mechanism.

We are using a 2CAN to interface with the CAN bus, and it doesn't report any errors. The Driver Station sees a lot of -44086 errors that indicate that the CAN GetStatus vi did not get the appropriate number of bytes. We still see the correct output indicating the state of our limit switches. We tried routing the errors from the CAN GetStatus to a Clear Errors vi, but the DS is still reporting the same thing. I'll post a log later tonight, hopefully with some snippets from our code.