single lline encoder on Jags
 

can we use a single line encoder like a gear tooth encoder or an optical encoder with the Jags?

Re: single lline encoder on Jags
 

I don't see why not as long as you tell the Jag "number of lines per revolution".

Re: single lline encoder on Jags
 

Have you tried this?

Re: single lline encoder on Jags
 

We have connected our 250-line encoders to the Jags. They worked as expected. We are doing speed control on it although we did not use the Jaguar's built-in PID. We used our own PID controller library in the cRIO.

Re: single lline encoder on Jags
 

Ah! You mean lines as in counts, but he means lines as in wires.

Re: single lline encoder on Jags
 

Did you connect both channels? Or just one (the OP's question).

Am I understanding correctly: You connected the encoder to the Jag, then using CAN you read the speed from the Jag, then used that speed as the feedback to a PID on cRIO, then used the cRIO's PID output to command the Jag?

Re: single lline encoder on Jags
 

According to the jaguar getting started guide:

There is no mention of the same thing in position mode. I have not tried it in either mode.

Re: single lline encoder on Jags
 

With a single channel tach input, the Jag cannot tell what the direction is. So position control would be problematic.

Re: single lline encoder on Jags
 

I am not sure I understand your question. Are you asking if we connected both A and B? If so, yes.
Yes, that's correct. We call the Jag to read the speed and use that as the Input to our PID controller on the cRIO. By doing so, we can change the PID algorithm to give us a stable speed control.

Re: single lline encoder on Jags
 

Yes, that's what I was asking, because I think that's what the OP was asking: whether or not it would work with one-channel input (rather than quadrature). Joe just answered that question affirmatively. The single channel must go to the A channel input.

Re: single lline encoder on Jags
 

Interesting. Can you read the speed from the Jag, compute the new output on the cRIO, and issue a new command to the Jag, all within the same TeleOp cycle?

Re: single lline encoder on Jags
 

Sorry for the confusion, I was answering the second part of his question whether I can use an optical encoder for which I assume is the KOP encoder.

Re: single lline encoder on Jags
 

Yes, we have achieved pretty stable speed control with it.

Re: single lline encoder on Jags
 

Interesting.
We haven't been getting a reliable reading from the Jag when the sprocket is stationary. What language are you using (we've seen some unimplemented features in Java in previous years).

Thanks.

Re: single lline encoder on Jags
 

We are using Wind River C++. We just call CANJaguar::GetSpeed().