Thread: WPILibrary's CANJaguar Class?
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Unread 13-01-2012, 01:25
jhersh jhersh is offline
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Re: WPILibrary's CANJaguar Class?
Quote:
Originally Posted by duffany1 View Post
Does the CANJaguar included in the WPI Library run on its own interrupt routine? In other words, if we run custom PID code, and we perform functions with Jaguars using CAN, are we going to be 100% sure that our IRQ rate specified in our program (for TeleopPeriodic) will be the actual IRQ rate for the Jags? I need the wisdom of someone experienced with the WPI Library.
The PID algorithm that runs on the Jaguar uses the timer interrupt on the controller internally (every 1ms). It does not depend on an interrupt in the cRIO. That's one of the nice things about using CANJaguar's PID instead of running the PID algorithm on the cRIO. Each control loop has a dedicated microcontroller to run it.