CTRE CAN Receive Timeout and pneumatics problems?

[icg]

After adding a pneumatics command and subsystem file, there seem to be CTRE CAN Receive Timeouts that are causing the program to crash. I attached an image of it and the base code.

We have no idea why that’s happening?

[icg]

Subsystem:

public class Solenoid extends Subsystem {

    DoubleSolenoid hatch;
    DoubleSolenoid habFront;
    DoubleSolenoid habBack;
    Joystick joystick;

    public Solenoid() {
        hatch = new DoubleSolenoid(0, 1);	
        habFront = new DoubleSolenoid(2, 3);	
        habBack = new DoubleSolenoid(4, 5);	
        joystick = OI.rightJoystick;
    }

    public void runSolenoid() {

        if (joystick.getRawButton(12) == true && joystick.getRawButton(11) != true) {
            hatch.set(DoubleSolenoid.Value.kForward); 
        } else {
            hatch.set(DoubleSolenoid.Value.kOff); 
        }
    

        if (joystick.getRawButton(11) == true && joystick.getRawButton(12) != true) {
            hatch.set(DoubleSolenoid.Value.kReverse); 
        } else {
            hatch.set(DoubleSolenoid.Value.kOff); 
        }
    

        if(joystick.getRawButton(10) == true && joystick.getRawButton(9) != true) {
            habFront.set(DoubleSolenoid.Value.kForward); 
        } else {
            habFront.set(DoubleSolenoid.Value.kOff); 
        }
    

        if(joystick.getRawButton(9) == true && joystick.getRawButton(10) != true) {
            habFront.set(DoubleSolenoid.Value.kReverse);
        } else {
            habFront.set(DoubleSolenoid.Value.kOff); 
        }
    

        if(joystick.getRawButton(8) == true && joystick.getRawButton(7) != true) {
            habBack.set(DoubleSolenoid.Value.kForward); 
        } else {
            habFront.set(DoubleSolenoid.Value.kOff); 
        }
    

        if(joystick.getRawButton(7) == true && joystick.getRawButton(8) != true) {
            habBack.set(DoubleSolenoid.Value.kReverse); 
        } else {
            habFront.set(DoubleSolenoid.Value.kOff); 
        }
    
    }
    
    public void initDefaultCommand() {
        setDefaultCommand(new SolenoidCommand());
    }

}

Command:

public class SolenoidCommand extends Command {

	public SolenoidCommand() {
		requires(Robot.solenoid);
	}

	@Override
	protected void initialize() {
	}

	@Override
	protected void execute() {
		Robot.solenoid.runSolenoid();
	}

	@Override
	protected boolean isFinished() {
		return false;
	}

	@Override

	protected void end() {
	}

	@Override
	protected void interrupted() {
	}

}

[Mr.R_2]

Did you change anything as far as hardware? This is the error we get when someone reverses a CAN wire by accident.

[Jjmase123]

Seems like the CAN bus could be terminated prematurely at the PDP before the PCM. Not sure if that would throw this error but worth a look.

[bsimmons]

First things first, open Phoenix Tuner and confirm the PCM is present under the CAN Devices tab. Then, check its ID is 0.

[NewtonCrosby]

You are also instantiating a second PCM’s worth of DoubleSolenoid objects.

You have them properly on 0,1 and 2,3 for the first two. According to the DoubleSolenoid javadocs I think you need to use the second constructor option, where you specify the PCM as well as the two pins that are connecting the red/black wires of the Solenoid.

It will be something like:

hatch = new DoubleSolenoid(0, 0, 1);	
habFront = new DoubleSolenoid(0, 2, 3);	
habBack = new DoubleSolenoid(1, 0, 1);	

[bsimmons]

@NewtonCrosby, Why is a second PCM required when there are 8 ports (0-7) on one PCM?

[NewtonCrosby]

You must have fancier PCMs than we have…ours only have 4. I thought that what our electronics team puts on the robot was what everybody uses.

Maybe I should stick to software.

[bsimmons]

As far as I am aware, there is only one PCM for FRC teams to use.
Perhaps your electronics team have tricked you
http://www.ctr-electronics.com/pcm.html

[Dcai169]

The CTRE PCM can handle 4 double solenoids or 8 single solenoids.

[Dcai169]

In regards to the code, I think you can use this:
solenoid = new DoubleSolenoid(PCM_ID, 0, 1);
Where PCM_ID is the PCM’s CAN ID.

[bsimmons]

This is correct however only 3 double solenoid are used in this instance, the constructor that uses the default ID of 0 would be fine unless the ID had changed.

[icg]

So is it not working because not all of the solenoids are connected? I thought that even if a solenoid isn’t connected to the PCM, it just doesn’t run and the rest of the code works fine

[bsimmons]

No sorry, not all the ports need to be used on the PCM.