You can sent the Jaguars to limit the rate of voltage change over time.
/**
* Set the maximum voltage change rate.
*
* When in PercentVbus or Voltage output mode, the rate at which the voltage changes can
* be limited to reduce current spikes. Set this to 0.0 to disable rate limiting.
*
* @param rampRate The maximum rate of voltage change in Percent Voltage mode in V/s.
*/
void CANJaguar::SetVoltageRampRate(double rampRate)
Team 241 needed to add it last year to keep from blowing the original Jaguars.
I've read that some teams reinitialize their Jaguars controlled by the CAN if they become nonresponsive.
I think if CAN timesout during initialization, the Jags may misinterpret or ignore the commands you typically send during periodic code time.