Good Morning everyone,
Our coding team is having some issues with the CTRE CanCoders we are using with our MK3 swerve modules. We understand in order to get the encoders to work with the swerve code we need to set their CAN IDs, which should be done in the Phoenix tuner. But for some reason none of the can devices are showing up in the phoenix tuner software. Can anyone out there help us out?
Does anything come up in Phoenix? If so continue. If not make sure you have started the diagnostic server.
Verify they are on the can. The lights on the cancoders only read can status for a few seconds when they come on then read magnet status.
Second verify voltage. I had a similar problem and I was plugged into the 5v of the vrm instead of the 12v.
Our team experienced this same issue last night, I would double check the soldering on the CANCoder and then make sure the power is plugged into a 12V 500ma port.
I would temporarily wire just one to the CAN bus and see if it shows up… If it does set the CAN ID there before disconnecting… I assume you can see other things on the CAN bus?
One other issue is that we could not see ANY devices in the Phoenix software. For clarity we are using all REV motors and motor controllers BUT using Can Coders for the sensors on the top of the MK3 modules. Is this a Can Bus issue?
Likely… did you get any messages in the bottom part of the Phoenix tool? It should say connected in a big green font. Did you deploy the temp diagnostic server? (I don’t recall the exact name). How are you connected? Wifi, USB cable, other?
Are you getting any lights/blink codes on the cancoderr? Turn the bot off then on. Cancoders only blink about CAN status for 5 seconds then they blink the magnet status. So seeing green after the first few seconds only means the sensor has a good read on the magnet.
The REV hardware client should also be able to see can conflicts and you might need to clear sticky faults in rev before you can get Phoenix to see the CAN properly.
Nothing came up in the phoenix tuner when we were testing. I’ll verify the can status and voltage tomorrow morning.
CAN status is also visually displayed by the PDP/PDH and PCM/PH as a confirmation.
The PDP blinks red if no CAN detected, yellow or green if it can reach at least one other device on the CAN network.
Make sure your CAN bus has working connections. Our team had some issues on our prototype bot where the CAN bus had some… not ideal… connections which meant that the whole bus went down some times. Something along these lines is probable because it seems nothing shows up at all on the CAN bus.
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