Using encoder with jaguar
 

My team saw in a PDF that it was possible to use an encoder connected to a jaguar to regulate the speed. Unfortunately, we haven't been able to find any information about actually DOING this in C++. Is there any example code that shows how to do this?

Re: Using encoder with jaguar
 

If there was example code for everything, FIRST wouldn't exist.

Learn how to use the encoder, learn how to use the Jaguars, research on closed-loop controllers. Do your homework! :D

Re: Using encoder with jaguar
 

It's possible, and example code exists (see the CANJaguar project on FIRST Forge) but you'll need to use CAN instead of PWM control for your Jags, which is a whole 'nother can of worms.

Re: Using encoder with jaguar
 

Oh, we're already using CAN, so that's not a problem.
We think we ended up finding out what we needed, we just have to initialize it with kSpeed, set the speed reference, and convert joystick values into RPM.

Re: Using encoder with jaguar
 

Don't forget to set your PID values..

Re: Using encoder with jaguar
 

Sorry, using velocity or another other closed loop control on the Jaguars has been deemed illegal. See here: http://www.chiefdelphi.com/forums/sh...43#post1004743

Re: Using encoder with jaguar
 

Ouch. Welll...I guess that settles it, then.

Re: Using encoder with jaguar
 

it is allowed from what i've seen, check team update 4
http://usfirst.org/uploadedFiles/Rob..._Update_04.pdf

Re: Using encoder with jaguar
 

Yeah, we found that. Thank you!