Remote CANcoder/CANdi closed loops fail with -1003 on SystemCore
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Assessment
- Difficulty
- 4/5
- Estimated time
- 3-5 days
- Newbie friendliness
- 45/100
- Issue type
- Bug
- Clarity
- Mostly clear
- Activity status
- Active
- Tech stack
- java
- Domain
- embedded-iot
Research direction
Start by reproducing the remote-sensor closed-loop failure on SystemCore with WPILib 2027 alpha 7 and Phoenix 6, then inspect the code or configuration handling Phoenix 6 remote-sensor status signals. The report identifies CANcoders and CANdi as affected; compare against the working 2026/roboRIO setup. Done when those loops work without the -1003 stale-frame error; the issue does not name relevant files or tests.
Written by the indexing model from the issue text.
Description
After porting our robot to WPILib 2027 alpha 7 on a SystemCore beta (Phoenix 6 [version]), every closed-loop subsystem that uses a remote sensor has stopped working. That's our turret, which uses CANcoders, and our hood and intake arm, which use a CANdi. The driver station repeatedly throws “Error -1003 CAN frame not received/too-stale from ctre::phoenix6::BaseStatusSignal::WaitForAll”, even though [the devices show up in Tuner X / wiring and firmware have been checked]. This configuration worked on [2026 / roboRIO], so we suspect something in how the 2027 Phoenix 6 handles remote-sensor status signals on SystemCore CAN.
- Dominant language
- Java
- Stars
- 190
- Forks
- 25
- Avg merge
- 6h 28m
- Merged PRs (30d)
- 12
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