[jwakeman]

Originally Posted by jhersh

If you get an error that is not "Time-out", the CANJaguar object will stop trying to talk to the device, since the calling code is clearly broken.

Is this still true with v101 of the firmware? I think this version of the firmware will bring the Jaguar back online after such a fault? Or is this a different set of circumstances?

Originally Posted by jhersh

I clearly need to write some examples for using CANJaguar in C++. Feel free to contribute some if you like.

I did spend an hour last night figuring out that I needed to call EnableControl() before it would respond to my Set() commands.

This is the code I was playing with last night to get familiar with the Jaguar closed loop current control. Basically a tank drive that commands current:

#include "testBot.h"
#include "CANJaguar.h"
#include "Joystick.h"


testBot::testBot()
{
}

testBot::~testBot()
{
}	

void testBot::OperatorControl()
{
	printf("Entering Operator Control\n");

	GetWatchdog().SetEnabled(true);	

	CANJaguar* pJag2 = new CANJaguar(2,CANJaguar::kCurrent);
	CANJaguar* pJag3 = new CANJaguar(3,CANJaguar::kCurrent);
	CANJaguar* pJag4 = new CANJaguar(4,CANJaguar::kCurrent);
	CANJaguar* pJag5 = new CANJaguar(5,CANJaguar::kCurrent);
	
	Joystick* pDriveStick1 = new Joystick(1);
	Joystick* pDriveStick2 = new Joystick(2);

	pJag2->SetPID(0.01,0.05,0);
	pJag3->SetPID(0.01,0.05,0);
	pJag4->SetPID(0.01,0.05,0);
	pJag5->SetPID(0.01,0.05,0);
	
	pJag2->ConfigNeutralMode(CANJaguar::kNeutralMode_Coast);
	pJag3->ConfigNeutralMode(CANJaguar::kNeutralMode_Coast);
	pJag4->ConfigNeutralMode(CANJaguar::kNeutralMode_Coast);
	pJag5->ConfigNeutralMode(CANJaguar::kNeutralMode_Coast);

	pJag2->EnableControl();
	pJag3->EnableControl();
	pJag4->EnableControl();
	pJag5->EnableControl();
		
	pJag2->Set(0, 0);
	pJag3->Set(0, 0);
	pJag4->Set(0, 0);
	pJag5->Set(0, 0);
	
	while(IsOperatorControl() && IsEnabled())
	{
		GetWatchdog().Feed();
		pJag2->Set(pDriveStick1->GetY() * 50);
		pJag4->Set(pDriveStick1->GetY() * 50);
		pJag5->Set(pDriveStick2->GetY() * -1 * 50);
		pJag3->Set(pDriveStick2->GetY() * -1 * 50);
	}
	

	printf("Leaving Operator Control\n");
}

void testBot::Autonomous()
{
	GetWatchdog().SetEnabled(false);
	
	while(IsAutonomous() && IsEnabled())
	{
	}
}

START_ROBOT_CLASS(testBot);