I have 6 thrusters from TIANJIN HAOYE TECHNOLOGY CO. LTD. 4 thrusters are T1080 (small sized) and two are T1020 (big sized), the only difference between these two are of the thrust they provide. Both use CAN ports.
I'm using NI cRIO controller with LabVIEW for programming, and a simple USB joystick for sending commands. My LabVIEW program is such that the data go to the CAN port after every 100ms, like 1st data packet to 1st thruster at 0ms, 2nd packet to 2nd thruster at 100ms, 3rd packet to 3rd thruster at 200ms and so on.
The problem is that when i connect all 6 thrusters on one CAN port of cRIO and execute the LabVIEW program, the thrusters hang, i.e., I lose control of them and they keep moving on the initial speed, I can't change it from the joystick. The part of the LabVIEW program consisting of the code for the thrusters generate an error. But all other parts of the code, which receive/send data to other ports, continue to work fine (like turning an led ON, getting data from temp/depth sensors etc)
But when I connect the two T1020 thrusters (the big ones) only, there is no error and I'm able to control the rpm of the thrusters.
The error also occurs when I connect two T1020 and one T1080 thruster, but it occurs after 4 -5 mins or so, till 4-5mins, I am able to change the speed but not after it. The error also occurs if I connect only two T1080 thrusters (small ones) on the CAN port.
Can the problem be with the CAN port of the small thrusters? Because the big ones work fine. If yes, how can all 4 of them have the same problem? I don't think there's a problem with the code.
Please help!
