[Mr. Lim]

Originally Posted by jeremypg399

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!

Thanks for sharing the info Jeremy! I was hoping there would be a great "CAN Jaguar Velocity Control w/ 2 Motors Success Story" here. However, you wouldn't be the first team to ditch the on-board Jag PID for a more flexible software approach. I don't think you'll be the last either...

Best wishes and good luck in 2012! Hopefully we'll cross paths in St. Louis!