New Jaguar firmware version 101

[slibert]

Hi David,

We are using black Jaguar's over CAN, in Speed Mode, and have been experiencing cases where some of the motors shut down and have to be rebooted to work again.

After a lot of investigation, we are confident that the CAN wiring is OK, I guess you'll have to trust me on that one....

We updated to Firmware v. 101 in hopes that this behavior would change, but are still experiencing shutdowns requiring reboot.

To reproduce the case, we've narrowed it down to driving full speed (250 rpms) in one direction, and then rapidly shifting to driving the other direction at full speed. We have enabled the automatic ramp mode in hopes that would help, but it does not eliminate the errors.

W/the 2CAN web page, we monitor the current, we see it spike around 43A on one or two of the motors during the direction change.

In the diagnostics page of the driver station, we see getTransaction failures (indicative of CAN bus communication issues) reported right when the motor stops responding. Specifically, the error messages are:

<Code>-44087 ERROR: status == -44087 (0xFFFF53C9) in getTransaction() in C:/windriver/workspace/WPILib/CANJaguar.cpp at line 425

One or more (but not always the same one) motor will stop responding to drive commands. The jaguar light is solid yellow on after they stop responding to drive commands, and the 2CAN web page continues to be able to monitor the bus voltage/current, so it's clear that CAN communication is still working.

Using BDCComm, we view the status of the jaguar that is in the non-responsive state, and Comm errors are reported but no others.

We're discussing working on a software-based ramp mode that hopefully avoids the rapid changes in speed, but we are puzzled at this one thing:

- Why do some of the Jaguars no longer respond to drive commands until we reboot them?