Quote:
Originally Posted by Zholl
I don't recognize the cRIO module it's hooked up to, but here's a picture of a demo setup. it looks like it has to use a serial adapter to connect to the module as well. Digital sensor inputs are plugged into the digital sidecar, and analog sensors are plugged into the analog breakouts on the cRIO (assuming I'm reading this diagram correctly). |
There were two legal ways to use the CAN bus in FRC this year. One is by connecting from the serial port on the cRIO to a Black Jaguar which acts as a serial-to-CAN bridge. From the Black Jaguar you then daisy chain each successive jaguar (black or tan) together.
The other way is to use the
2CAN Ethernet-to-CAN adapter plugged into Ethernet port 2 of the cRIO. Then the 2Can is the start of the chain instead of a Black Jaguar and you daisy chain from it to either black or tan Jaguars.
If you want to take advantage of the onboard PID functionality of the Jaguars, you connect the sensors to the sensor inputs on the Jaguars themselves.