We have a spare MK4i module. Whenever we plug it into our robot, the entire CAN bus blinks red and orange intermittently (both are the same color, not like one led is red and one is orange). When we try it out on our test board (just the module in the CAN bus with a terminating resistor), everything works as intended. To try to resolve that, we switched out all of the electronics (Falcons, CANcoders, and wires) on the module, replacing them with falcons and a CANcoder from our old robot. The problem still persists. Additionally, it doesn’t seem to be a connector problem, as when we have another module in that same spot on the robot, it is fine. Any suggestions would be greatly appreciated. Thank you.
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Is it possible some of the devices on the extra module are the same canID as in the bus?
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Is this a CANivore you are using for your CAN bus? What piece of hardware/specific lights are you looking at?
Yes we are using a CANivore for our bus, and all of the signal lights on the falcons are flashing, and the CANcoders are solid red.
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I don’t believe so, I am not on the software side of things, but they say that they set the canID’s correctly
Is the magnet seated properly in the swerve module? If you switched all the electronics, the only constant I can think of would be the magnet seating. I know that the cancoder will flash red if the magnet is out of its range (too low). I know I’ve seen it happen a couple of times with our magnets, even when they were superglued.
Okay good to know. By the way, you can look up what the status LEDs mean for CTRE hardware in the user manuals, for the CANivore, for example, you can look here on page 8.
The behavior you described (red/orange blinking) seems to be associated with hardware damage on the CANivore. You said you were able to connect other devices to the CANivore successfully? Just not this one swerve module?
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Thanks, we’ll check that.
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our signal lights seem to be slightly different. If I’m reading the manual correctly hardware damage is one of the two LED’s on each device is red while one is orange. Both of ours are red and or orange at any given time
Have you check if you can access the devices via Phoenix Tuner?
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Have you checked your can utilization, not common but if you’re completely overloading your CAN network by doing something like setting PID values inside a periodic loop for every module it’s possible to drive utilization so high that it crumbles as the bandwidth of the network is relatively small especially when sensor data and commands are being shuffled around from so many devices.
Duplicate CANController Area Network ID’s is the most likely reason to get the both red / both orange blink code on Talon FXs or Talon SRXs. Please check all the CANController Area Network IDs so you can be 100% confident that the spare module does not have devices with duplicate CANController Area Network IDs to the other devices on your robot.
You are correct that the hardware damage blink code alternates red and orange on each LED, such that one is red and one is orange at all times, which is not what you are seeing.
A much less likely possibility is that the both red blink of a reverse command is alternating with the both orange code of a zero (neutral) command. This could happen with a wiring problem that results in an intermittent signal reaching the Talon.
Triple-check those CANController Area Network IDs.
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Warning when checking IDs in phoenix tuner or revs client you will not see duplicates sometimes! Devices will report identically you have to physically disconnect them and flash them separately.
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Tuner X has been really good at detecting duplicate ids this year for us.
I haven’t used tuner X yet but thank you for the recommendation I’ll try swapping it out when having ID issues in the future.
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