We were going through the inspection checklist and saw that we needed to have the roborio and the pdp connected via Can. We have a Canivore thats Can loop terminates in the pdp and the Can loop from the rio terminates with a resitor. We are not able to swap the 2 Can loops becaue the loop for the Canivore is for our drivebase that uses falcons and krackens. The loop for the rio is for our arm that uses a mix of falcons, neos, and neo vortex. I am told by our programmer that putting the neos and vortex on the Canivore loop would not work. Is there a reason that the rio and pdp need to be linked via Can? Do we need to get rid of the resistor and run the can to the pdp to terminate it?
Ok genuinely asking, why are you using 4 different motor types?
In terms of your problem, I am not the most familiar with a canivore, krakens, or vortexes, but I do know that we have successfully run neos and falcons on the same can loop. Your system seems to have a lot going on, might be better to simplify and streamline a bit, do a simple can loop if possible. Don’t overlook KISS (Keep It Simple Stupid).
The rules require it (R716). There doesn’t really need to be a deeper reason, but the main benefit is you get logging in the DS of channel currents.
The PDP must be connected to the Rio’s built-in CAN bus, not the CANivore one. It can be at the end (and serve as the bus terminator) or in the middle–there’s a jumper on the PDP to enable or disable termination. Just like any other CAN device, it can be on the same bus as other devices like the NEOs and the Vortexes. The rule says it must be connected to the bus, not that it be the only device on the bus.
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We are using 4 motor types because we only got so many krackens and vortex and we wanted to have enough spare falcons for things so then we used neos so that we have enough spares of them. We are using kracken for drive motors on our swerve and falcons for steering. The vortex are are for our shooter and intake. The the falcons are for intake pivot and elevator extension while the neos are for the arm pivot.
So we can still use the resistor to terminate the can but we need to run the can through the jumper on the pdp?
Yes; if it’s easier to add the PDP to the middle of the CAN bus than the end, you can move the jumper to the off position and keep the resistor already in place at the end of the bus.
Just in case it wasn’t clear, no matter what you decide to do with the PDP termination resistor, the PDP needs to be removed from the CANivore loop and the CANivore loop will need a resistor at the end.
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