CANivore

The CANivore is a USB-to-CAN-FD adapter that adds a second, high-bandwidth CAN network to your robot. Typical use cases include swerve drive modules, high-rate sensor networks, and offloading bandwidth from the RoboRIO CAN bus.

Why CANivore

• Increased bandwidth (CAN FD) for high-frequency control loops
• Isolate critical devices from main bus traffic
• Improved robustness via bus segmentation

Wiring and Naming

• Connect CANivore via USB to the RoboRIO
• Daisy-chain CAN FD devices to the CANivore port
• Name the CANivore in Phoenix Tuner (e.g., "canivore") and use that name in code

Usage in RobotPy

import ctre

# The name must match Phoenix Tuner device name for the CANivore
CANIVORE_BUS_NAME = "canivore"

# Device on the CANivore bus
talon_on_canivore = ctre.WPI_TalonFX(1, canbus=CANIVORE_BUS_NAME)

# Device on the default RoboRIO CAN bus
talon_on_rio = ctre.WPI_TalonFX(2)  # No canbus specified

Diagnostics

• Use Phoenix Tuner to verify device presence on the CANivore bus
• Check bus utilization and error counters
• Keep firmware versions consistent across all CTRE devices

Contributors: