As a team, we started to look back at our old logs and realized we had a very high CAN utilization last season with spikes to 100%. What are some tips other teams use to help minimize their CAN utilization?
Depends what youre using on the bot. 18 Falcon500’s are going to use a lot. 3, not so much.
As for how to reduce it, you can tune your status frames so it doesn’t send quite as much data, or move some devices to a CANivore (only supports certain CTRE devices, so not helpful if you’re a REV team).
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If you’re using CTRE devices that are Phoenix 6 compatible, I recommend upgrading from v5 now that v6 is “free-to-use”. They greatly improved their signal API so you can pretty easily tune the signals you need, and turn the others off.
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All the other comments here are for CTRE devices (which are usually easier to optomize for CAN utilization), but for REV devices, lower the update rate of various signals here: Development SPARK MAX User's Manual
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I did not know about this. Very nice to see them adding this feature!