[dyanoshak]

Originally Posted by Trump

4) I have some qualms about using the jags internal PID loop because of what was said on this thread http://www.chiefdelphi.com/forums/sh...t=90508&page=2 however it looks like they were using java. Can anyone confirm whether this is also happening with c++?

The main discussion in that thread was over how to tune the PID constants. It might be hard to read through the discussion, but teams have had success tuning the Speed PID constants starting with I first.

Originally Posted by Trump

5) The CANJaguar class has a ConfigPotentiometerTurns(UINT16 turns) function, but the pots i was planning on using only turn 340 degrees(slightly less than 1 turn). Should I just use a 1, and then set soft position limits? For this I'm again assuming that the CANJaguar will automatically use feedback from the potentiometers and use PID to control the arms position.

Basically this converts the measured pot voltage into turns. For example, on a 1 turn pot, a 1.5V reading will convert to 0.5 turns. If you set a 10 turn pot, 1.5V will convert to 5 turns.

So for you, your 0 - 340 degree pot will read as 0 - 1 Turn.

-David