CAN Bus issues with swerve

We have a problem with our robot where it would suddenly lose control over the drive motors but the swerve steering motors are fine.

I’m not sure if the issue is in the canbus since the utilization is around 60-70% and peaks to 90-95%.

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Is that with code deployed and running? Something is weird about that graph. I’ve never see trip times that consistent, CPU usage that consistent, packet loss pegged at zero, or battery voltage that increases over time.

Ah. Just realized you have it zoomed in to a 1.17 second scale. Can you give us a much larger view over a larger period of time?

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