Testing CAN Bus traffic issues

lasarobotics · Feb 18, 2025 · 587a774 · 587a774
1 parent 8b28e69
commit 587a774
Showing 1 changed file with 3 additions and 2 deletions.
diff --git a/src/main/java/org/lasarobotics/hardware/revrobotics/Spark.java b/src/main/java/org/lasarobotics/hardware/revrobotics/Spark.java
@@ -126,8 +126,8 @@ public static class SparkInputs {
   }
 
   private static final String LOG_TAG = "Spark";
-  private static final int CAN_TIMEOUT_MS = 50;
-  private static final int MAX_ATTEMPTS = 5;
+  private static final int CAN_TIMEOUT_MS = 2000;
+  private static final int MAX_ATTEMPTS = 20;
   private static final int SPARK_MAX_MEASUREMENT_PERIOD = 16;
   private static final int SPARK_FLEX_MEASUREMENT_PERIOD = 32;
   private static final int SPARK_MAX_AVERAGE_DEPTH = 2;
@@ -189,6 +189,7 @@ public Spark(ID id, MotorKind kind, Frequency updateRate) {
 
     // Set CAN timeout
     m_spark.setCANTimeout(CAN_TIMEOUT_MS);
+    m_spark.setCANMaxRetries(MAX_ATTEMPTS);
 
     // Restore defaults
     restoreFactoryDefaults();