Limit Switches on CAN freaks out

[nighterfighter]

We are using CAN to control our Jaguars this year, but we get an error every once in a while when we boot up the robot.

If the limit switch is pressed when we boot up, every now and then (it appears to be random, we can't find a pattern) NetConsole throws a bunch of errors, called "Code: -44087 ERRROR Status == -44087(0xFFFF53C9) in SetTransaction() of CANJaguar at line 392" . When this occurs, we can't drive any motors, as the entire CANBus dies.

Like I said, it doesn't occur everytime the limit switch is depressed, but if that were to happen in a match, we'd be screwed.

If don't know if it makes a difference, but we have a total of 4 limit switches. Two are on a Grey Jaguar, and when those switches are depressed, we have never had a problem. The other 2 switches are hooked up to the same Black Jaguar, and that is when the error occurs.