Thread: Modest request for next Jaguar firmware
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Unread 22-02-2012, 15:22
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Re: Modest request for next Jaguar firmware
I used the limit switches as an example, because it appears that there was a conscious decision by the WPI implementors to provide a default safe mode.

On the jaguars, I see that there is inconsistent behavior already with regard to the jaguar being commanded to a 0 set point. For example, if you use voltage mode with a ramp rate, and have the brake set by jumper or CAN specification. You can ramp to 100%, and then immediately ramp down to -50% or -100%, but as soon as you command a voltage between ~-10% to 10%, the brake kicks in immediately, with no ramp. A near 0 commanded voltage ignores the ramp rate that is set. Likewise, with the brake set to coast, there is no ramp down to 0, it just free-wheels.

In speed control mode, the jaguar is attempting to control the output, even if commanded to 0. My proposal would at least synchronize the behaviors of these two modes.
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