WPILib CAN Communications

[jwakeman]

Does WPILib support both the RS-232 (Black Jag Gateway) and ethernet (2CAN) style CAN networks? I can't tell from the CANJaguar class if it only supports one of these modes or both. If it does support both modes how does it detect which you are using?

Thanks
Joe

[rrossbach]

WPILib supports both, there is no difference in the robot code or WPILib code between the two.

The difference is handled by the plugin on the cRIO - if you're using RS-232 you run the Black Jag plugin on the cRIO, if using 2CAN you use the 2CAN plugin. The cRIO imaging tool lets you select which to use, or you can edit the ni-rt.ini file yourself to load the plugin you want.

[jwakeman]

perfect thanks!

[virtuald]

Note that (I believe) you can only use one or the other, you cannot use both.

[jhersh]

Originally Posted by virtuald

Note that (I believe) you can only use one or the other, you cannot use both.

That is correct. You chose which interface by selecting which to load. If you load both, the second one loaded will replace the first one.

-Joe