[Jeremy Germita]

Originally Posted by Mr. Lim

From your pictures, it looks like you are using Jaguars via CAN.

It also mentions you are using 2 FPs for your shooter, using speed control.

Are you using the built-in Speed PID function of the Jaguars?

If so, two questions for you:

1) How did you tune your Speed PID for the Jaguars? What are your PID constants?

2) How did you get 2 Jaguars to run in sync with each other without them interfering with each other? Did you split the encoder signal? Read the voltage from one Jaguar and send it to the second?

Thanks for noticing. Before I explain anything, I'd like to thank you for all the work and information you've posted on CAN Jags and Velocity control.

Following the advice from one of your posts, I decided to offload V PID to the cRIO. However, we are still using the encoder port of the Jag(one encoder to one jag). Unfortunately, we found major inconsistencies in the jag's velocity data(+/- 20%). As a slight workaround, we have our software calculate the derivative of jaguar.getPosition rather than letting the jag do it.

Since all of the processing is on the cRIO, it was pretty simple to sync the two motors. I simply took the output from the calculation and set it to the jaguars while using SyncGroups.

Thank you, and if you have any more questions, ask away!