Chief Delphi - LM_API_CFG_NUM

Chief Delphi (http://www.chiefdelphi.com/forums/index.php)

- CAN (http://www.chiefdelphi.com/forums/forumdisplay.php?f=185)

- - LM_API_CFG_NUM_BRUSHES (http://www.chiefdelphi.com/forums/showthread.php?t=84383)

LM_API_CFG_NUM_BRUSHES

On this page of the firstforge site (May require login) :

http://firstforge.wpi.edu/integration/viewcvs/viewcvs.cgi/CANJaguar%20for%20Java/src/edu/wpi/first/addons/JaguarCANProtocol.java?root=canjaguar&rev=9&system =exsy1002&view=markup

There is a line :

Code:

public static final int LM_API_CFG_NUM_BRUSHES = (LM_API_CFG | (0 << CAN_MSGID_API_S));

If we tell the jaguar how many brushes our motor has, could we use the motor's brushes as a simple tachometer so that we could do closed loop (somewhat) speed control without adding additional sensors (encoders, potentiometers, etc.)?

edit:
And if this could be used, how many brushes do the CIMs have?

If this could be used, would this work for a speed reference (or even position)?

Code:



    public static class SpeedReference {



        public final byte value;

        static final byte kEncoder_val = 0;

        static final byte kBrush_val = 1;

        public static final SpeedReference kEncoder = new SpeedReference(kEncoder_val);

        public static final SpeedReference kBrushes = new SpeedReference(kBrush_val);



        private SpeedReference(byte value) {

            this.value = value;

        }

    }

Re: LM_API_CFG_NUM_BRUSHES

So, the banebots RS-555 has 5 brushes. If I had a jaguar on the CAN bus, could the brush count be used for either the Position or speed control mode?

would something like this work?

Code:



public static class PositionReference {



        public final byte value;

        static final byte kEncoder_val = 0;

        static final byte kPotentiometer_val = 1;

        static final byte kBrushes_val = 2;

        public static final PositionReference kEncoder = new PositionReference(kEncoder_val);

        public static final PositionReference kPotentiometer = new PositionReference(kPotentiometer_val);

        public static final PositionReference kBrushes = new PositionReference(kBrushes_val);



        private PositionReference(byte value) {

            this.value = value;

        }

    }



public void configMotorBrushes(short brushes) {

        byte[] dataBuffer = new byte[8];

        byte dataSize;



        dataSize = packINT16(dataBuffer, brushes);

        setTransaction(LM_API_CFG_NUM_BRUSHES, dataBuffer, dataSize);

    }



CANJaguar brushedDCMotor = new CANJaguar(2, ControlMode.kPosition);

brushedDCMotor.setPositionReference(PositionReference.kBrushes);

brushedDCMotor.configMotorBrushes(5);

brushedDCMotor.enableControl(0.0);