Quote:
Originally Posted by Radical Pi
One quick question. I see a few "trusted" commands (Enable and Set for each of the control modes) which get an extra 2 bytes of 0s at the beginning of their data section. I don't have the source to the jag firmware that reads Trusted commands, so I'm wondering if you know what trusted means and why it should be used
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"Trusted" communication with the Jaguars is how we assert safety in a CAN enabled system. If you used CAN last year, you used trusted mode. In untrusted mode, an extra PWM cable is attached to each CAN jaguar just to tell that the system is still up and good - untrusted mode was not legal for 2010 FRC use.
There is a security layer that inserts some extra stuff between the commands you send and the data sent to the 2CAN/BlackJagBridge. I won't go in to details, it is what prevents someone from e.g. putting rogue firmware on a 2CAN and driving the robot while disabled.