CAN Spark Max Errors and Drive Stuttering

djp0915 · February 1, 2020, 4:40pm

In my driver station, I keep getting a CAN Spark Max Timed out errors as well as DIfferential Drive not updated enough. I am not sure whether its an issue with my code or with the CAN Id’s.
https://github.com/djpgamer7/FRC4012-Infinite-Recharge

LilTiger · February 1, 2020, 6:45pm

In your drivetrain class, you create a DifferentialDrive object but to actually drive the robot, you use the manualDrive method that directly sets your motor speeds instead of using the DifferentialDrive. The DifferentialDrive object needs to be continuously updated or it will throw a timeout. You see this time out behavior since you’re not using the DifferentialDrive to actually drive the motors.

djp0915 · February 1, 2020, 6:50pm

Ok, that issue is fixed but now what about the CAN Spark Max errors?

LilTiger · February 1, 2020, 6:54pm

Are they all timing out? Even though the differential drive is no longer timing out?

djp0915 · February 1, 2020, 7:05pm

Yes, im getting a CAN Spark max timed out periodic 0. After the change still getting the differential drive error as well.

LilTiger · February 1, 2020, 7:19pm

Does the robot currently drive at all? Also have you double checked the CAN IDs of the SPARK MAXs you are using? Is there anyway you could post the driverstation log file as well?

Will_Toth · February 1, 2020, 8:01pm

It looks like you are instantiating the DriveTrain object multiple times, which in turn creates a new CANSparkMax instance.

You are doing that here:

github.com

djpgamer7/FRC4012-Infinite-Recharge/blob/2a8f7d1a750abe50b223021c04463b1619617a3a/Infinite-Recharge/src/main/java/frc/robot/commands/TankDrive.java#L20


import java.util.function.DoubleSupplier;


import edu.wpi.first.wpilibj2.command.CommandBase;
import frc.robot.subsystems.DriveTrain;


/**
 * @author Daniel Pearson
 * @version 1/9/2020
 */
public class TankDrive extends CommandBase {
  private static DriveTrain drive = new DriveTrain();
  private static DoubleSupplier leftSpeed;
  private static DoubleSupplier rightSpeed;


  public TankDrive(DriveTrain subsystem, DoubleSupplier leftSupplier, DoubleSupplier rightSupplier) {
    drive = subsystem;
    leftSpeed = leftSupplier;
    rightSpeed = rightSupplier;
    addRequirements(drive);
  }

here:

github.com

djpgamer7/FRC4012-Infinite-Recharge/blob/a1c84b7d24841cf3d3a7228bb6e8c5828ca14215/Infinite-Recharge/src/main/java/frc/robot/commands/LockTarget.java#L19




import edu.wpi.first.wpilibj2.command.CommandBase;


import frc.robot.subsystems.DriveTrain;
import frc.robot.subsystems.Limelight;
import frc.robot.subsystems.Limelight.CamModes;
import frc.robot.subsystems.Limelight.LedModes;
import frc.robot.subsystems.Limelight.LimelightConstants;


public class LockTarget extends CommandBase {
  public DriveTrain drive = new DriveTrain();
  public Limelight limelight = new Limelight();


  private double kProt = LimelightConstants.kProt;
  private double kPdist = LimelightConstants.kPdist;


  public LockTarget(DriveTrain subsystem, Limelight vision) {
    drive = subsystem;
    limelight = vision;
    addRequirements(drive, limelight);
  }

and here:

github.com

djpgamer7/FRC4012-Infinite-Recharge/blob/e7b9fd7a6c26e972258e19fa34b0e704810d6c7c/Infinite-Recharge/src/main/java/frc/robot/RobotContainer.java#L28


import frc.robot.commands.SetVision;
import frc.robot.commands.LockTarget;


/**
 * @author Daniel Pearson
 * @version 1/9/2020
 */


@SuppressWarnings("unused")
public class RobotContainer {
  private DriveTrain drive = new DriveTrain();
  private Limelight vision = new Limelight();


  private Joystick stickL = new Joystick(Constants.LEFT_JOY);
  private Joystick stickR = new Joystick(Constants.RIGHT_JOY);


  public RobotContainer() {
    // Configure the button bindings
    configDefaultCommands();
    configureButtonBindings();
  }

You should only instantiate the object one time. After doing that, does your problem go away?

djp0915 · February 1, 2020, 9:09pm

Yes because it’s used in several commands. Should it not be? Unlike old command based it needs to be in each command.

yu.liu2 · February 1, 2020, 9:37pm

No there should only ever be a single instance of the DriveTrain because motor objects cannot be created twice.

I think it would work if you just avoided recreating the drive train from TankDrive and LockTarget. i.e. remove the = new DriveTrain() part from the line.

djp0915 · February 1, 2020, 10:05pm

That makes sense… I didn’t think about the fact that I’m parsing in the drivetrain to the command through the RobotContainer🙃

system · January 31, 2021, 10:05pm

This topic was automatically closed 365 days after the last reply. New replies are no longer allowed.