Robots not under driver control- does it happen- do you determine why?

[Kevin Sevcik]

I know we've had responsiveness problems in the pits. They were always associated with a ton of CAN errors. I've yet to discover the root cause of the CAN errors, aside from one of the jaguars always flashes. I'm certain the fact of the CAN errors is what causes the delayed responses, since the CAN libray uses blocking calls, which means everything will stop until the command times out or gets a response. So the program hits a snag, then eventually times out and updates everything with rather older joystick values that haven't been refreshed.