CAN SPARK MAX Errors

lizzigan · January 15, 2020, 2:42am

Hi all,

While testing my new basic drive train code on our new chassis, I encountered an error with our SPARK MAX. I deployed code to the robot successfully but I continuously got the errors in the RIO log:

[CAN SPARK MAX] timed out while waiting for Periodic Status 0
[CAN SPARK MAX] WPILib or External HAL Error: CAN: Message not found.

(In Driver Station, these same errors came up but with Error Codes of 2 and 4 attached, I’m not sure at the moment which was which).

I updated all the SPARK MAX to 1.5.1 via USB-C, changed the CAN IDs from 20-23 to 1-4, and still, the error has persisted. I don’t think there is anything wrong code-wise as it builds correctly and deploys without any problems but I’m also relatively inexperienced with making a tank drive train with SPARKs. Here’s the current src file: https://github.com/lizzigan/loki2020.

One of our mentors went over the CAN wire connections and haven’t found any problems with them. I, myself, do not know that much about electronics but since the Spark MAX all successfully got the firmware update from one USB-C connection, I imagine that the connection isn’t broken. I’m not sure where to go from here in terms of troubleshooting the problem, and so any suggestions would be appreciated.

Thank you.
Team 219 Programming Captain

Will_Toth · January 15, 2020, 2:51am

Can you send the deiver station log file? If the file is too big you can send it to [email protected] with a link to this thread. Make sure to include both the .dslog and .dsevents file

lizzigan · January 15, 2020, 3:04am

Here are both of those files, thank you.

2020_01_13 18_53_34 Mon.dslog (209.5 KB)
2020_01_13 18_53_34 Mon.dsevents (402.2 KB)

JohnD · January 15, 2020, 3:13am

Make sure you don’t have two CAN devices sharing a single address.

Will_Toth · January 15, 2020, 5:48pm

So looking closer at your code I was able to recreate this issue. It looks like you create two instances of the DriveTrain() object, which creates two CANSparkMax objects with the same ID. Removing the second instance of the object resolved the issue.

Here are the two locations:

github.com

lizzigan/loki2020/blob/master/src/main/java/frc/robot/RobotContainer.java#L40


/**
 * This class is where the bulk of the robot should be declared.  Since Command-based is a
 * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
 * periodic methods (other than the scheduler calls).  Instead, the structure of the robot
 * (including subsystems, commands, and button mappings) should be declared here.
 */
public class RobotContainer {
  // The robot's subsystems and commands are defined here...
  private final ExampleSubsystem m_exampleSubsystem = new ExampleSubsystem();
  private final ExampleCommand m_autoCommand = new ExampleCommand(m_exampleSubsystem);
  private final DriveTrain m_drive = new DriveTrain();
  public Joystick xbox;
  public Button a;
  public Button b;
  public JoystickButton lmove;
  public JoystickButton rmove;


  /**
   * The container for the robot.  Contains subsystems, OI devices, and commands.
   */
  public RobotContainer()

github.com

lizzigan/loki2020/blob/master/src/main/java/frc/robot/Robot.java#L36


public static RobotContainer m_roboCon;


/**
 * This function is run when the robot is first started up and should be used for any
 * initialization code.
 */
@Override
public void robotInit() {
  // Instantiate our RobotContainer.  This will perform all our button bindings, and put our
  // autonomous chooser on the dashboard.
  m_drive = new DriveTrain();
  m_spin = new TestMotot();
  m_roboCon = new RobotContainer();


 
}


/**
 * This function is called every robot packet, no matter the mode. Use this for items like
 * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
 *

I am looking closer at why this causes this error in particular and improving the warning shown. For now removing the second object creation should fix the issue.

lizzigan · January 18, 2020, 1:53am

Thank you! That did get rid of the error with the CAN IDs!

system · January 17, 2021, 1:53am

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