[mikets]

Originally Posted by Mike Copioli

I noticed that you are calling the closed loop functions. If you are trying to just control the Jag in voltage control mode you do not need to to do this.

What do you mean? The loop is reading the joystick values and programming the Jaguar in speed mode accordingly. If that's not the proper way to program the Jaguar, please show me the proper way.

Originally Posted by Mike Copioli

Also I do not see where you init the Jaguars.

How do you initialize the Jags? Wouldn't the CANJaguar constructor initialize it for me? I looked at the source code for the CANJaguar module and it calls the InitCANJaguar method. In the InitCANJaguar method, it checks the firmware version to make sure it's between 92 and 3329. Then it send a transaction to the Jag to enable the specified operating mode. That should be enough to initialize the Jags, right?

Originally Posted by Mike Copioli

The functions used in CAN are the same regardless of the gateway used (serial or 2CAN). The only difference is the plugin. Make sure you have the most recent plugin and 2CAN firmware (version 2.18).

When I imaged the cRIO, I selected 2CAN. According to documentation, this will automatically add the 2CAN driver to the cRIO plug-in list.

Originally Posted by Mike Copioli

A couple questions:

1. What is the state of the Jaguar LED? blinking orange or solid orange.
2. What version of 2CAN firmware and plugin are you running?

The Jaguar LEDs are blinking either Yellow or Green depending on which angle you are looking at them. According to the Diagnostic page of the 2CAN web dash:

Version: 2.5

Build Date: Mar 13 2011 04:56:34

Is it the latest? If not, please point me to the latest firmware. It's not easy to determine which version I should download. According to the web site:

Downloads for FIRST:

• 2CAN User Manual ver_1.4 (pdf) (Updated 1/10/2011)
• 2CAN Firmware ver_2.18 (crf) (Updated 12/21/2011)
• 2CAN Firmware (2.5) (Updated 3/13/2011)
• 2CAN Firmware (2.1) and Plugin (SVN rev 66) for FRC cRIO (Updated 1/29/2011)
• Wind River Kernel Module Plugin Source (SVN rev 66) for FRC cRIO (Posted 3/12/2011)
• 2CAN Firmware (2.1) and Plugin (SVN rev 64) for FRC cRIO (Updated 1/15/2011)

I picked version 2.5 because the other seems to be for 2CAN V2. So I am not sure if I picked the correct version.

Thanks for your help.