CANJaguar timeout on cRIO startup

[ekgordon2]

This is the third year out team is using CAN, but this problem has me stumped.

We just updated the firmware on a new black jaguar (v100 from ti.com/jaguar) and assigned it board ID 1. We have a new 4-slot cRIO imaged with the NI cRIO Imaging Tool, and we are using WindRiver C++ for programming with latest workbench/WPILib update from FIRSTForge.

The jaguar worked fine when controlled manually by BDC-COMM, but when connected to the cRIO, we are getting an error in sendMessage(), CANJaguar.cpp line 460: JaguarCANDriver timed out while waiting for a response.

Here is the code we used, basically the sample IterativeRobot with everything commented out:

#include "WPILib.h"
#include "CANJaguar.h"

class BuiltinDefaultCode : public IterativeRobot
{
	
	CANJaguar *motor;
	
	// Local variables to count the number of periodic loops performed
	UINT32 m_autoPeriodicLoops;
	UINT32 m_disabledPeriodicLoops;
	UINT32 m_telePeriodicLoops;
		
public:

	BuiltinDefaultCode(void)	{
		printf("BuiltinDefaultCode Constructor Started\n");

		// Initialize counters to record the number of loops completed in autonomous and teleop modes
		m_autoPeriodicLoops = 0;
		m_disabledPeriodicLoops = 0;
		m_telePeriodicLoops = 0;

		printf("BuiltinDefaultCode Constructor Completed\n");
	}
	
	
	/********************************** Init Routines *************************************/

	void RobotInit(void) {
		// Actions which would be performed once (and only once) upon initialization of the
		// robot would be put here.
		
		motor = new CANJaguar(1);
		
		printf("RobotInit() completed.\n");
	}
	
	void DisabledInit(void) {
		m_disabledPeriodicLoops = 0;			// Reset the loop counter for disabled mode
		
		// Move the cursor down a few, since we'll move it back up in periodic.
		printf("\x1b[2B");
	}

	void AutonomousInit(void) {
		m_autoPeriodicLoops = 0;				// Reset the loop counter for autonomous mode
		
	}

	void TeleopInit(void) {
		m_telePeriodicLoops = 0;				// Reset the loop counter for teleop mode
		
	}

	/********************************** Periodic Routines *************************************/
	
	void DisabledPeriodic(void)  {
		static INT32 printSec = (INT32)GetClock() + 1;
		static const INT32 startSec = (INT32)GetClock();


		// increment the number of disabled periodic loops completed
		m_disabledPeriodicLoops++;
		
		// while disabled, printout the duration of current disabled mode in seconds
		if (GetClock() > printSec) {
			// Move the cursor back to the previous line and clear it.
			printf("\x1b[1A\x1b[2K");
			printf("Disabled seconds: %d\r\n", printSec - startSec);			
			printSec++;
		}
	}

	void AutonomousPeriodic(void) {
		
		m_autoPeriodicLoops++;

		
	}

	
	void TeleopPeriodic(void) {
		// increment the number of teleop periodic loops completed
		m_telePeriodicLoops++;

		motor->Set(0.5);

	} // TeleopPeriodic(void)

};

START_ROBOT_CLASS(BuiltinDefaultCode);

We tried switching out CAN cables, re-imaging the cRIO, and rewriting firmware on the Jaguar. Oddly, PWM worked perfectly when we tested it out, only CAN is having problems.

Thanks in advance!