Unexplained intermittent CAN / 2CAN Jaguar problems at GSR

[mjcoss]

So I finally got a chance to run some tests on our second bot that was made in parallel with our competition bot. It is not exactly the same but we were seeing similar CAN bus timeouts.

I replace the bus termination with a new one using a 120 ohm resistor (our old ones were 100 ohm), and we move the 2CAN power supply to the 24volt regulated power off the power distribution block (I think that what the electrical guy said0. Over a 10 minute session, cycling thru teleop, autonomous, and disabled states, we saw only 2 timeout messages.

Unfortunately, I can't recreate the one "known" failure case that we have seen on our competition bot. That is, if in autonomous, we need to run the compressor at the start of autonomous mode, we get a complete CAN bus failure. The problem is that our second bot was partial disassembled, and so not all of the components are running/attached.

But it seems like a good sign, although why it would loose even one is a bit of a mystery. Maybe if we increase the wait time a small step to see if the message was just delayed or was really lost.