Unexplained intermittent CAN / 2CAN Jaguar problems at GSR

[martin417]

I don't think anyone has mentioned this before so I will bring it up. We're using the BlackJag serial/CAN bridge. We also have limit switches connected directly to one of the Jags. The only time we have ever had the scrolling CAN error is when the CrIo is booted with one of the limit switches depressed. Even with a limit switch depressed, it only happens about 5% of the time. We have never had the issue if no limit switches are depressed.

Part of our pre-match checklist was to make sure that the limit switch was not depressed. Naturally, the only time we forgot to check, we got the errors and didn't move at all that match. After that, we removed that limit switch and depended on the encoder to stop the mast at the bottom. We didn't have any more problems.