AndyMark CAN Interface Utility

How to use the AndyMark CAN Utility to configure AndyMark CAN Devices

Link to Downloads Page

• The first step to using the AndyMark CAN Utility is to run a server that is included with the AndyMark WPILib Vendor Library. By initializing any AndyMark CAN devices in a WPILib robot project, the server will be running when your computer is connected to the RoboRIO and that robot code is running.

• Enter the team number of the RoboRIO in the team number box (1.)

• Click the "ConnectToRio" (2.) button to connect to the server running on the RoboRIO. Any AndyMark CAN devices will then appear in the table.

• To interact with devices, click on the device in the table. It will highlight the row of the device. By double clicking on the device's CAN ID or device name, entering the number or name you want, then hitting enter (CAN IDs are limited to 0-63. Device name can include any character, but is limited to 7 characters)

• By clicking the buttons (3.) with a device selected, you can interact further with the devices.

  • "Identify Device" will cause the device to blink its LEDs so you can find the device.

  • "Restart Device" will send a signal to the device telling it to restart

  • "Start Reprogram" will prompt the user to select a firmware file and initiate the reprogram process

    • Note on reprogramming: Currently, updating the firmware using the CAN utility will spike CAN utilization to around 80%. Because of this, reprogramming can take a long time if there are other CAN devices on the bus. Best practice is to pull breakers on the Robot's power distribution board for everything except the device you are updating. If this is done, firmware update should take less than a minute.

    • Firmware update progress will be printed into the Driver Station's console

    • Ensure that you are choosing firmware for the correct device. Uploading firmware for the wrong device will likely render your CAN device inoperable without sending it to AndyMark for reprogramming

• (Not recommended) The RoboRIO code status message and "Server Setup" tab (4.) is an experimental feature to install the server on the RoboRIO without a WPILib project with the AndyMark VendorDep installed.

• If you must use this, make sure some robot code is running on the RobRIO. Then, click "Set Up Server on RIO" button under the "Server Setup" button. This is destructive to Robot Code and the RIO will not run any Robot Code until "Restore Robot Code" is clicked. This will cause the RIO to be able to run Robot Code again and then will reboot.

• If there is a failure during this process, you may have to reupload robot code before clicking "Restore Robot Code". You may also have to reformat the RoboRIO