Power for CTRE Encoder and Pigeon 2.0

Technical Electrical
1

Hello,

We are using CTRE encoders for swerve and Pigeon 2.0.
Currently we are powering up them from Mini Power Module Mini Power Module - REV Robotics

Is that okay ? What fuse specification we should be using ?
Can we connect them to the main PDP ?

Thanks
-Ambrish

2

They can be connected to the main PDP, but powering off the MPM is also fine. We ran 10 amps off the PDH, and then 10 for each MPM slot, but 5 will probably also be fine.

So yeah, should be fine

3

Thanks @FinIce .
We keep seeing below errors for the Pigeon 2.0 and wondering if we are missing something fundamental in how it is wired.
I do see all the devices on the CAN Bus and it is blinking green.

CAN frame not received/too-stale. Check the CAN bus wiring, CAN bus utilization, and power to the device.
from: pigeon 2 13 (“”) Status Signal AngularVelocityZWorld
at: Stack Trace not received for performance reasons.

4

See R622 (Use appropriately sized wire.) – The breaker can’t be for a higher amperage than the wire size in this rule. You want the breaker to be for at least as high an amperage as the thing you are connecting to it is rated, but this is generally going to be < 5Amps, so a 5Amp breaker will be a good choice and then you know you need to use wire that is 22AWG or thicker.

You are also allowed to use 10Amp breakers with 22AWG also, but you generally should not need 10Amp for CANcoders (60mA – or 0.06A – max.) or Pigeon 2.0 (40mA – or 0.04A – typical).

For connecting the main power into the REV MPM, you can use up to a 40A breaker on the main Power Hub. Just be sure you use the right size wire between the two (12AWG or thicker).

5

What is your CAN utilization?

6

It is around 40%.
We have total 13 devices on CAN Bus. (8 Sparkmax, 4 CTRE Encoders and 1 IMU Pigeon 2.0).