CAN Installation Details

[duane]

Somehow, I didn't remember requiring the DS to be connected last year, but that was last year. Better notes this year for next year.

We had some success today and we have discovered at least one problem with the cRio. Ethernet port 2 does not work on the cRio. We cannot connect both the DS and the LabView computer at the same time. We have since connected Ethernet Port 1 to a hub and connected the both computers to the hub.

We can now download and run code from the LabView system after the robot is enabled with the DS.

However we are still having trouble with CAN. We can only address the first CAN Node. That is whatever CAN device is attached to the serial port works just fine. The other devices are not recognized (they continue to blink yellow).

Addressing the devices is a problem even with the BDC-COMM program. So it seems like wiring. We have gone through every possible combination of Jaguar, wire connection, and terminator. We've swapped all the different components (save the Jaguars) with parts from last years robot.

It seems like the serial to CAN translation is not occurring. The serial interface is working but the next device does not see any signal.

Is there any way to verify that the signal is on the bus?

We can get one Jaguar to work. Last year we had 10 all on CAN. I know this works. I must be missing something.

[Greg McKaskle]

Port 2 on the cRIO is a separate NIC, and is on a separate subnet from port 1. You normally attach the camera to port 2, although if you have other devices that are supposed to be isolated to the robot, they can be connected via a hub. Port 1 is the outside port, and you should be able to have both the programming and DS laptops join the wireless AP on the robot. You can also wire both computer to the AP which is connected to port 1.

Greg McKaskle

[jhersh]

Originally Posted by duane

Somehow, I didn't remember requiring the DS to be connected last year, but that was last year. Better notes this year for next year.

It was required last year too.

Originally Posted by duane

We had some success today and we have discovered at least one problem with the cRio. Ethernet port 2 does not work on the cRio. We cannot connect both the DS and the LabView computer at the same time. We have since connected Ethernet Port 1 to a hub and connected the both computers to the hub.

Port 1 and Port 2 are on different networks. Both the deployment and the driver station packets need to be on the Port 1 network. You can use a camera or 2CAN or other Ethernet device on Port 2, just not the 2 functions you were trying.

Originally Posted by duane

However we are still having trouble with CAN. We can only address the first CAN Node. That is whatever CAN device is attached to the serial port works just fine. The other devices are not recognized (they continue to blink yellow).

Addressing the devices is a problem even with the BDC-COMM program. So it seems like wiring. We have gone through every possible combination of Jaguar, wire connection, and terminator. We've swapped all the different components (save the Jaguars) with parts from last years robot.

It seems like the serial to CAN translation is not occurring. The serial interface is working but the next device does not see any signal.

Make sure all your cables are straight through. Make sure you have 100 Ohm terminators installed. Make sure there aren't any shorts on the CAN bus (especially in the DB9 serial adapter).

Originally Posted by duane

Is there any way to verify that the signal is on the bus?

Sure, if you have a scope or a differential DAQ system.

-Joe