Quote:
Originally Posted by mikets
So does it mean I can only call SetPID after I call ChangeControlMode to a close-loop mode? And I assume I have to call SetPID every time after I change to a close-loop mode. In other words, the PID constants will be cleared on every mode change?
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The Jaguar has separate messages for setting each control mode's PID constants, so the CANJaguar class has no message ID that it can use to send those PID constants if you are not in a closed-loop mode.
I don't believe they are cleared... they are stored as separate variables in the Jaguar. That could be easily tested by setting one mode, calling SetPID, changing modes, calling SetPID again, then switching modes back and calling GetPID.