Quote:
Originally Posted by biojae
The jaguar would be in Voltage control mode.
The position (or speed) values can be read through the CAN bus (after the correct settings are loaded into the jaguar, SpeedReference for example).
The voltage to send to the jaguar can then be calculated on the cRio.
This does not use any of the Jaguar closed-loop modes, and so it seems legal.
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While it is possible to run PID on the controller successfully, there are substantial advantages of running it on the motor controllers themselves. In particular there is less need to consider timing jitter in control loops or message bandwidth limits if using the Black Jaguar serial to CAN convertor.
But mostly this is a poor decision due to the reason Eric stated above.