If you are looking for IronMaple ESP32‐FRC‐devkit resources, please switch branch to dev-board.
Code, CAD models: https://github.com/sikaxn/FRC-Custom-CAN-Sensor/tree/dev-board/pcb
Design file: https://oshwlab.com/sikaxn/seal-v2-dev-board
Factory test code: https://studenttechsupport.com/customcanespfw/factory/
- Allow change number of pixel over CAN DONE
- offline detection on roborio driver DONE
- Indicator Task that use IM dev board RGB LED DONE
- Better CAN protocol - Allow writing energy form roboRIO by user DONE
- Better CAN protocol - Allow user to trigger tag rescan over CAN DONE
- Better CAN protocol - More status feedback from ESP32 (tag write error) DONE
- Better CAN protocol - Empty message upon startup DONE
- Allow change CAN Device Number using web tool DONE
- APP improvment - init new serial number follow BEST protocol (or disable this in setting)
- APP improvment - App should not be set as default NFC app on Android
- Bugfix - Change CAN Device Number using web tool currently not working. DONE
- Maybe merge Addressable LED with it.
- New firmware that combine those two together. DONE
Please also check out the WiKi section for more documentation!
https://github.com/sikaxn/FRC-Custom-CAN-Sensor/wiki
This repo need some cleanup. Will do later.
https://github.com/sikaxn/FRC-Custom-CAN-Sensor/tree/dev-board
If you are looking for IronMaple ESP32‐FRC‐devkit resources, please switch branch to dev-board.
Code, CAD models: https://github.com/sikaxn/FRC-Custom-CAN-Sensor/tree/dev-board/pcb
Design file: https://oshwlab.com/sikaxn/seal-v2-dev-board
Factory test code: https://studenttechsupport.com/customcanespfw/factory/
Pre built ESP32 firmware for Battery RFID Tracker and Addressable LED Controller. Just Chrome, USB and flash.
https://studenttechsupport.com/customcanespfw/
Web flasher source code: https://github.com/sikaxn/sikaxn.github.io/tree/master/customcanespfw
https://www.chiefdelphi.com/t/custom-can-sensor-some-good-progress/501764
Potentiometer analog input https://www.youtube.com/watch?v=bEm6USGRP-E
LED (pin 13) digital output https://www.youtube.com/shorts/q937u09llhw
roboRIO heartbeat (look at the LED blinking while enabled) https://www.youtube.com/shorts/c1ieu9o8Lzo
This project is for demo and under work. Faulty CAN frame could bring entire CAN bus down.
This project use AI generated content.
- [Arduino Mega] Digital Analog bi-directional (Docs / Arduino Firmware / roboRIO / RIO Simulator)
- [Arduino Mega] REV Colour sensor (Docs / Arduino Firmware / roboRIO) (this share the same roboRIO code with the first one)
- [Arduino Mega] LCD Screen (Arduino Firmware / roboRIO / RIO Simulator)
- NOT FRC LEGAL [ESP32] Robomaster motor gateway (dual CAN on ESP32) (Arduino Firmware / roboRIO)
- NOT FRC LEGAL Robomaster DT7 Remote on CAN (Arduino Firmware / roboRIO)
- [ESP32] Battery Tracking System (Arduino Firmware / roboRIO / Android APP / Docs)
- [ESP32] ToF using 4 VL53L1X (Docs / Arduino Firmware / roboRIO / UITool / ROI Calculator Tool)
- [ESP32] Addressable LED Controller (Arduino Firmware / roboRIO)
- [ESP32] Battery Tracking (Arduino Firmware / roboRIO) / Docs
- [ESP32] Battery Tracking LF (Arduino Firmware / roboRIO) / Docs
- [ESP32] REV and Andymark Colour sensor (Arduino Firmware / roboRIO) / Docs
Per FRC Game Manual (2025) R707 and E301, Wi-Fi radio should not be used within competition area and Bluetooth radio should not be used if robot is competing on the field. As for now, none of the code utilizing ESP32 have any wireless capability. However, if further update enabled this capability, the use of such device and software should be carefully planned and coordinated to stay in compliance with the game manual.
The 'CAN ID' we talked about when setting up motor controllers (Spark, Kraken, PDP, etc) is a number from 0-63. This is not the CAN identifier (message ID) used in CAN data layer. FRC Use a very specific scheme outlined in FRC CAN specification to convert certain information to CAN identifier. All device connected to roboRIO must follow this scheme when determine what ID to send data to and read form.
CAN identifier is calculated from device ID (device type ID), manufacturer ID, API ID (in the documentation it talked about API Class and Index but doesn't matter and it is just a suggestion. Each device will have its unique API ID designed for its use) and device number (0-63 as the traditional 'CAN ID' we talked about in FRC).
You must generate your CAN identifier (message ID) using this very specific way. A device will have multiple CAN message sent to and from roboRIO (and possibly to other non-roboRIO device). These different messages will share the same device type ID, manufacturer ID and device number. API ID will change based on use.
- REVCOlourSensorV3 Arduino sketch has been updated to do conversion in code. In addition, rm_dt7 is added to handle Robomaster / DJI DT7 Remote with DR16. This is not legal to use in FRC. However you could still take a look at these conversion.
// === CAN Constants ===
#define DEVICE_TYPE_ID 0x0A //DONOT CHANGE
#define MANUFACTURER_ID 0x08 //DONOT CHANGE
#define DEVICE_NUMBER 33 // Device Number 0-63
#define STATUS_API_ID 0x180
#define COLOR_SENSOR_API_ID 0x184
#define CONTROL_API_ID 0x190
#define HEARTBEAT_ID 0x01011840
uint32_t makeCANMsgID(uint8_t deviceID, uint8_t manufacturerID, uint16_t apiID, uint8_t deviceNumber) {
return ((uint32_t)(deviceID & 0xFF) << 24) |
((uint32_t)(manufacturerID & 0xFF) << 16) |
((uint32_t)(apiID & 0x3FF) << 6) |
(deviceNumber & 0x3F);
}
-
An ID converter script is added. see below for usage.
-
DO NOT change DEVICE_TYPE_ID and MANUFACTURER_ID as this will result roboRIO code stop working.
A minimal Tkinter application for converting between FRC 29-bit CAN IDs and their four fields.
A minimal Tkinter application viewing CAN messages using python-can.
Support Ctrl + C to copy message and roboRIO heartbeat decoding.
