[dsirovica]

Just to make sure we're all seeing things the same way:

When we say output 6 in kVoltage, there will be NO 6V measurable on the output at any point in time. I think we all agree that the output can only be in two possible states, a full ON or full OFF of the H-bridge (Full battery voltage (less MOSfet drop) or 0V). The output will look identical to a 0.5 in kPercentVbus with a battery voltage of 12V. There is no need to ADC the output, just the input Bus Voltage so that the Jag processor can compute the % duty cycle on the output.

So it is awfully missleading to read the following method description:

configMaxOutputVoltage

Quote:
public void configMaxOutputVoltage(double voltage)Configure the maximum voltage that the Jaguar will ever output. This can be used to limit the maximum output voltage in all modes so that motors which cannot withstand full bus voltage can be used safely.

Parameters:
voltage - The maximum voltage output by the Jaguar.

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