[Ether]

Originally Posted by clarksnack

are you saying we can change the ramp in CAN bus, but not directly in Java through PWM?

If you want to set the rate of the ramping function that is built-in to the Jaguar, you have to use CAN bus. There is no way to use PWM to communicate anything to the Jaguar except the %PWM you want.

there is a field in the BDC COMM software called ramp. If the joystick limit is manipulated is it truly adjusting the Jags ramp or is it manipulating the operators input? seems like two different functions.

The Jaguar's built-in ramping feature imposes a slew rate limit on the Jag's output.

You can accomplish much the same thing by limiting operator commands (joystick commands), or by limiting vehicle commands derived from the operator commands. This can be done in your software.

Is there code examples where we can change the ramp in java?

The pseudo-code I linked to can be used to pre-process your joystick values before passing them along to the rest of your code.

Or, that code can instead be used further downstream in your code, in order to limit the slew rate of specific vehicle behaviors. For example, consider a skid-steer vehicle with a tank-drive user interface.

Process the joystick values into forward/reverse and rotate commands, and then apply the slew rate limiter to the forward/reverse only, then process the vehicle commands into motor commands. That will limit your forward/reverse acceleration but not your rotational acceleration.


Having said all that, I do not think ramp rate is your problem.