Chief Delphi - RobotDrive for CAN?

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camper365

26-08-2011 22:33

RobotDrive for CAN?

I'm new to using Windriver, we've been using Labview for the past 3 years, and I've been playing around enough to figure out the RobotDrive interface, but I was wondering if I can get it to work with CAN Jaguars. If not, where can I go to find basic documentation on how to program a CAN Jaguar system. I've done a lot of searching for how to use C++ for the CAN, but I can't really find anything that's basic on the software level (I found plenty on how to set up the hardware, which was incredibly nice).

EDIT: I found example code at FirstForge, and it made things make sense. Because I'm at home right now and won't have access to the robot until Monday, I won't know for sure if it works, but it looks like it will (meaning it won't).
http://firstforge.wpi.edu/integratio...ystem=exsy1002

davidthefat

27-08-2011 02:18

Re: RobotDrive for CAN?

While we are on the topic of CAN, why would you need it? What are the advantages of CAN? Why not stick to the ol' PWM?

jtdowney

27-08-2011 06:25

Re: RobotDrive for CAN?

Quote:

Originally Posted by camper365 (Post 1074896)

EDIT: I found example code at FirstForge, and it made things make sense. Because I'm at home right now and won't have access to the robot until Monday, I won't know for sure if it works, but it looks like it will (meaning it won't).
http://firstforge.wpi.edu/integratio...ystem=exsy1002

Just a heads up, the CAN Jaguar project on FIRST Forge is deprecated I believe. CAN functionality is now built into WPILib itself. You want to use the CANJaguar class found in CANJaguar.h. It implements SpeedController, which means it can be passed into the constructor of RobotDrive.

~Cory~

27-08-2011 12:20

Re: RobotDrive for CAN?

I hate to be "that" guy but, there is an entire subforum dedicated to
CAN. http://www.chiefdelphi.com/forums/fo...play.php?f=185

Aren Siekmeier

28-08-2011 22:32

Re: RobotDrive for CAN?

I don't know about C++, but in LabView the Open RobotDrive subroutine in WPILib is polymorphic and can either create a CANJaguar RobotDrive object or a PWM (Victor or Jaguar) RobotDrive object (or even a RobotDrive object from existing motor references). This may apply to C++ as well, having the same OO characteristics.

EricS-Team180

30-08-2011 09:19

Re: RobotDrive for CAN?

Quote:

Originally Posted by compwiztobe (Post 1075114)

The same holds for the C++ WPIlib.

Why a CAN bus? Closed Minor Loop control and simplified wiring layout

Why not? with 9 years of Victor experience and 2 years of Jaguar experience, the nod for robustness goes to the Victors for now.

We really like the CAN bus but, will most likely revert to Vic's for the 2012 competition season. We'll see ...

Eric

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