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Unread 03-20-2018, 08:24 AM
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CAN frame error when run-at-startup and not when run from Robot Main

Last night my students ran into in odd issue with the practice robot. For the first time this season (ack), we built the LabVIEW project and deployed it to run at startup as opposed to simply running Robot Main and having it deploy to the roboRIO. When we did so one of the mechanisms no longer worked properly due to an error returned when reading the quadrature (VersaPlanetary Encoder connected to Talon SRX). The follow errors were displayed in the Driver Station console:

ERROR -3 CTR: CAN frame not received/too-stale. Talon SRX 10 GetQuadratureSensor
ERROR -3 CTR: CAN frame not received/too-stale. Talon SRX 11 GetQuadratureSensor
ERROR -8003 Phoenix Motor Controller: GetQuadratureData.vi CAN frame not received/too-stale. Phoenix Motor Controller: GetQuadratureData.vi

We certainly have various issues to investigate. There are some sticky faults on the Talon SRXs and the PDP (lit orange and not green). There may be a bad data cable between the VersaPlanetary Encoder and the Talon SRX. We have 4 other VersaPlanetary encoders connected to TalonSRXs which are functioning fine. The encoders that work have shorter data cables. The code for the encoders that work uses the Victor SX Get VI to read sensor position, while the code for the encoders that don't work use the Talon SRX Get Enhanced VI to read quadrature.

However, what puzzels me is that these errors are only generated when the code is run at startup. No errors are displayed in the Driver Station, the quadrature values are read successfully and accurately, and the mechanism works fine when the code is deployed by running Robot Main directly.

Has anyone seen this type of discrepancy between run-at-startup behavior and running Robot Main behavior? Any other tips?


Geoff Schmit
Huskie Robotics, FIRST Team 3061 Mentor
Naperville North High School
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Unread 03-20-2018, 09:18 AM
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Re: CAN frame error when run-at-startup and not when run from Robot Main

The same error appears on our driver station logs when the robot first connects when run as startup however it appears to not affect any performance and runs completly fine from that point onward. We also only see this when run as startup, it seems to have only ever been with 3rd party libraries,I believe we get a similar error every once in a while with the NavX when first turned on aswell.

We have never had any adverse affect on robot performance due to these initial errors though.
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