Hi, my team switched to using krakenX60’s this year for a swerve drivetrain, and whenever code is deployed, the error: can frame not received/too-stale is thrown. Does anyone have any ideas that could help? Using an updated version of the swerve library from Swerve Drive Specialties, along with the drivetrain classes from Team 27 Rush’s 2022 robot code.
use this reference link in the docs to check the status lights of the motor
if the motor doesn’t show any issues then check if the motor ID’s and CANBus in code are the same as the motor.
also use the tuner x tool to check if the motor is appearing at all.
I believe the issue is likely electrical rather than software-related.
- CAN bus termination: Check if your CAN bus is properly terminated with a resistor or if it has an open end.
- Wiring: If you’re twisting wires together, it’s recommended to solder them for a more secure connection.
- CAN connectors: If you’re using standard CAN connectors, ensure that none of the pins are broken.
- Kraken X60: Verify that none of the CAN terminal screws on the Kraken X60 are loose.
- Tuner X check: After completing the steps above, use Tuner X to verify that all your devices are correctly recognized.
Please share your results after trying these suggestions. These are the things I would check if I encountered a similar issue.
You can pull up phoenix tuner and see what devices it is reading. If you see half the devices you can locate where a break in the can bus is. If you see no devices then check for can bus termination.
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