FRC Sensor CAN

sugarCANe — sensor inputs over CAN

GitHub repository: barkinvar/sugerCANe

A compact interface for three NPN, PNP or logic sensors on an FRC robot. Each port has a removable 5 V / 12 V power jumper; input type is configured in software. CAN provides sensor readings, device-ID changes and recoverable firmware updates.

sugarCANe is the product name; SC12 Rev H remains the hardware identity. The underside carries a large original pixel-cane illustration on a raised island with a stepped underside and a bold pixel sugarCANe wordmark, with no other text. Bottom artwork render.

Start with Rev H in current/. It is an unbuilt engineering prototype, with physical qualification still pending. It uses its own protocol and drivers; it is not compatible with CTRE Phoenix or GrappleHook.

Rev H adds one RGB status LED on the right, with space for a printed light duct, and a recessed female programming socket for small batches. It retains G's protected sensor supplies, CAN fault reset and rail measurements. See the engineering review for the evidence and remaining physical tests.

Selected assembly plan: JLC fits 129 top-side SMT parts. You buy STM32F042K6T6 from DigiKey and solder U5, then fit ten through-hole parts and three jumper caps. U5 is omitted from the factory BOM, CPL and stencil. All 54 factory types had stock for ten boards in the September 10, 07:22 UTC check. Full power/input/firmware and four-layer CAD screens pass; factory process/stack/inspection confirmation and quotation remain pending. Start here: where to buy and how to order.

The selected purchasing estimate is $1.81 lower per board than the preceding $28.99 estimate, before SMT attrition. It includes the DigiKey MCU; optional spares are extra. Assembly and the reusable programmer are separate. Cost basis.

Find what you need

Why the revisions differ

Revision details · Historical downloads. Use hardware, firmware and instructions from the same revision.

Folder map

Clone the repository and enter the maintained design:

git clone https://github.com/barkinvar/sugerCANe.git
cd sugerCANe/current

See tools and reproduction for setup and build instructions.

current/                 The maintained Rev H design
  hardware/              Native KiCad, local libraries and circuit model
  firmware/              MCU application, bootloader and tests
  host/ + examples/      CAN setup tools and robot drivers
  bom/ + order/          Parts lists and factory package status
  docs/                  Wiring, assembly, servicing and qualification
  output/ + reports/     Fabrication exports, drawings and check evidence
  scripts/ + tools/      Reproduction scripts and pinned dependencies
  release/               Release package status
archive/                 Original older release/order ZIPs and checksums

Earlier expanded project copies and unused experiments were removed from the current tree. Historical packages are unchanged, and previous sources remain in Git history. Contributing and generated-file policy.

The 52 × 74 mm board has top-side assembly, rounded corners, improved edge clearances, a recessed debug socket and labelled voltage selectors. Its 1,530 straight track segments and 242 vias satisfy the routing rules. All-layer cleanup removes pad overshoots, redundant paths and stubs, with explicit chamfered branches. Ground pours use checked widths and gaps; see the ground cleanup. Component positions and artwork are unchanged. See before/after details, all four copper layers and connector details.

The input connector-to-fuse and fuse-to-MOSFET routes are now 0.7 mm wide (14 segments widened from 0.5 mm). The protected input and converter paths retain their reviewed clearance necks. Width, clearance, connectivity and ground-pour checks cover all four layers; see the power-path review.

These views show the actual exported copper and drills. Inner layers are viewed from the top; the bottom is mirrored for an underside view.