YAGSL Pigeon 2.0 errors + no logging

Technical Programming
, , ,
1

We are trying to use YAGSL version 2025.2.1, but we are getting CAN errors from our pigeon 2.0 and we see nothing reported from the YAGSL logging.

The CAN errors are:
On Phoenix 5 firmware (2022):

  • ERROR -3 CTR: CAN frame not received/too-stale. Pigeon IMU 2 Get Fused Heading
  • ERROR -3 CTR: CAN frame not received/too-stale. Pigeon IMU 2 GetFusedHeading

These errors happen within 100ms of each other, and repeat about every 3 seconds.

On Phoenix 6 firmware (2025):

  • ERROR -3 CTR: CAN frame not received/too-stale. Pigeon IMU 2 Get 6d Quaternion
  • ERROR -3 CTR: CAN frame not received/too-stale. Pigeon IMU 2 Get Fused Heading
  • ERROR 103 CTR: Firm Vers could not be retrieved. Use Phoenix Tuner X to check that the device is running Phoenix 5 firmware (22.X), the device ID is correct, the specified CAN bus is correct, and the device is powered.

These errors also all happen within 100ms of each other, and repeat about every 3 seconds.

Additionally, even though the verbosity is set to LOW, all of the fields logged by YAGSL show up as blank in AdvantageScope and Shuffleboard.

In order to try and test everything, I also deployed the AdvantageKit 4.1.0 Spark Swerve template and got no can errors for anything while disabled after changing the CAN Ids. However, this was a quick fix so I did not change the code to use CANcoders instead of REV abosolute encoders. I did not enable the bot with this code.

Our team is using MK4c swerve modules with VORTEX drive motors, NEO 1.1 steering motors, and CANcoders. Our gyro is a CTRE pigeon 2.0.

Gyro YAGSL config JSON 
{
  "imu": {
    "type": "pigeon",
    "id": 2,
    "canbus": "rio"
  },
  "invertedIMU": false,
  "modules": [
    "frontleft.json",
    "frontright.json",
    "backleft.json",
    "backright.json"
  ]
}

We got CAN errors from the gyro when using null for the gyro can bus and when using “rio” for the gyro can bus.

Drive subsystem code 
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

package frc.robot.subsystems.Drive;

import java.io.File;
import java.io.IOException;
import java.util.function.DoubleSupplier;

import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.Filesystem;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import swervelib.SwerveDrive;
import swervelib.parser.SwerveParser;
import swervelib.telemetry.SwerveDriveTelemetry;
import swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity;

public class SillyDrive extends SubsystemBase {
    // https://docs.yagsl.com/configuring-yagsl/code-setup
    private File swerveJsonDirectory = new File(Filesystem.getDeployDirectory(), "swerve");
    private SwerveDrive swerveDrive;

    public SillyDrive() {
        /* 
        * !_!_!_!_!_!_!_!_!_!_!_!_!_!_!_!_!_!_!_!_!_!_!_!_!_!_!_!_!_!_!_!_!_!
        * TELEMETRY - SET THIS TO LOW FOR DEBUGGING, AND HIGH FOR FASTER CODE
        * !_!_!_!_!_!_!_!_!_!_!_!_!_!_!_!_!_!_!_!_!_!_!_!_!_!_!_!_!_!_!_!_!_!
        */
        SwerveDriveTelemetry.verbosity = TelemetryVerbosity.LOW;
    
        // Swerve init - https://docs.yagsl.com/configuring-yagsl/code-setup 
        try{
            swerveDrive = new SwerveParser(swerveJsonDirectory).createSwerveDrive(DriveConstants.maximumModuleSpeed);
        }
        catch (IOException e) {
            DriverStation.reportError("Swerve config not found: " + e.toString(), true);
        }

        //https://github.com/BroncBotz3481/YAGSL-Example/blob/main/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java
        //Heading correction should only be used while controlling the robot via angle.
        swerveDrive.setHeadingCorrection(false);
        //!SwerveDriveTelemetry.isSimulation); // Disables cosine compensation for simulations since it causes discrepancies not seen in real life.
        swerveDrive.setCosineCompensator(false);
        //Correct for skew that gets worse as angular velocity increases. Start with a coefficient of 0.1.
        swerveDrive.setAngularVelocityCompensation(true, true, 0.1); 
        // Enable if you want to resynchronize your absolute encoders and motor encoders periodically when they are not moving.
        swerveDrive.setModuleEncoderAutoSynchronize(false, 1);
      }
    @Override
    public void periodic() {
      // This method will be called once per scheduler run
    }

    public void drive(double translationX, double translationY, double rotation, boolean isFieldRelative, boolean isOpenLoop){
        swerveDrive.drive(new Translation2d(translationX * swerveDrive.getMaximumChassisVelocity(),
            translationY * swerveDrive.getMaximumChassisVelocity()),
            rotation * swerveDrive.getMaximumChassisAngularVelocity(),
            isFieldRelative,
            isOpenLoop // Ususally false
        );
    }	

    public Command humanDriveCommand(DoubleSupplier xInput, DoubleSupplier yInput, DoubleSupplier thetaInput){
      return new RunCommand(
        () -> {
          this.drive(
            xInput.getAsDouble(), 
            yInput.getAsDouble(), 
            thetaInput.getAsDouble(), 
            true, 
            false
          );
        }
        , this);
  }
}
Robot container code 
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

package frc.robot;

import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import frc.robot.Constants.OIConstants;
//import frc.robot.subsystems.Drive.Drive;
import frc.robot.subsystems.Drive.SillyDrive;
import frc.robot.subsystems.Drive.SwerveIO;
import frc.robot.subsystems.Drive.SwerveIOSpark;

public class RobotContainer {
  
  private SillyDrive drivetrain;
  
  public RobotContainer() {
    
    // switch(Constants.currentMode){
    //   case REAL:
    //     drivetrain = Drive.initialize(new SwerveIOSpark());
    //     break;
    //   case SIM:
    //     //drivetrain = new Drive();
    //     break;
    //   default:
    //     drivetrain = new Drive(new SwerveIO() {});
    //     break;
    // }

    //drivetrain = Drive.initialize(new SwerveIOSpark());
    drivetrain = new SillyDrive();

    drivetrain.setDefaultCommand(drivetrain.humanDriveCommand(
      OIConstants.driverController::getLeftX,
      OIConstants.driverController::getLeftY,
      OIConstants.driverController::getRightX
    ));

    configureBindings();
  }

  private void configureBindings() {}

  public Command getAutonomousCommand() {
    return Commands.print("No autonomous command configured");
  }
}

As you can probably see, we tried to add AdvantageKit, but commented it out in the RobotContainer so we could get the swerve working without it first. The Robot.java file still initializes the logger.

Robot.java code 
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

package frc.robot;

import org.littletonrobotics.junction.LogFileUtil;
import org.littletonrobotics.junction.LoggedRobot;
import org.littletonrobotics.junction.Logger;
import org.littletonrobotics.junction.networktables.NT4Publisher;
import org.littletonrobotics.junction.wpilog.WPILOGReader;
import org.littletonrobotics.junction.wpilog.WPILOGWriter;

import edu.wpi.first.wpilibj.PowerDistribution;
import edu.wpi.first.wpilibj.PowerDistribution.ModuleType;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;

public class Robot extends LoggedRobot {
  private Command m_autonomousCommand;

  private final RobotContainer m_robotContainer;

  public Robot() {
    //LOGGER GOES FIRST
    Logger.recordMetadata("ProjectName", "MyProject"); // Set a metadata value

    if (isReal()) {
        Logger.addDataReceiver(new WPILOGWriter()); // Log to a USB stick ("/U/logs")
        Logger.addDataReceiver(new NT4Publisher()); // Publish data to NetworkTables
        new PowerDistribution(1, ModuleType.kRev); // Enables power distribution logging
    } else {
        setUseTiming(false); // Run as fast as possible
        String logPath = LogFileUtil.findReplayLog(); // Pull the replay log from AdvantageScope (or prompt the user)
        Logger.setReplaySource(new WPILOGReader(logPath)); // Read replay log
        Logger.addDataReceiver(new WPILOGWriter(LogFileUtil.addPathSuffix(logPath, "_sim"))); // Save outputs to a new log
    }

    Logger.start();
    
    m_robotContainer = new RobotContainer();
  }

  @Override
  public void robotPeriodic() {
    CommandScheduler.getInstance().run();
  }

  @Override
  public void disabledInit() {}

  @Override
  public void disabledPeriodic() {}

  @Override
  public void disabledExit() {}

  @Override
  public void autonomousInit() {
    m_autonomousCommand = m_robotContainer.getAutonomousCommand();

    if (m_autonomousCommand != null) {
      m_autonomousCommand.schedule();
    }
  }

  @Override
  public void autonomousPeriodic() {}

  @Override
  public void autonomousExit() {}

  @Override
  public void teleopInit() {
    if (m_autonomousCommand != null) {
      m_autonomousCommand.cancel();
    }
  }

  @Override
  public void teleopPeriodic() {}

  @Override
  public void teleopExit() {}

  @Override
  public void testInit() {
    CommandScheduler.getInstance().cancelAll();
  }

  @Override
  public void testPeriodic() {}

  @Override
  public void testExit() {}
}

Any help would be much appreciated. Thank you in advance!

2

The Pigeon 2.0 is no longer supported in Phoenix 5. Users should use Phoenix 6 firmware and API for the device. With that said, YAGSL uses “pigeon2” for the type in the Gyro JSON config for Pigeon 2.0, not “pigeon” (which is for the original Pigeon IMU).

2 Likes
3

If this works I might cry. Thank you so much for the fast reply, I will try this in an hour or so and report back.

4

Yep, this fixed it. I also had the wrong TelemetryVerbosity set and once I changed it the logging came back.