Quote:
Originally Posted by Phalanx
If you're looking to save bandwidth on the CAN bus consider using
Periodic Status for each JAG. Configure each JAG in begin, and then you ask each JAG in teleop to obtain it's most recent cached status update.
Be aware, there is a minor bug as described here:
http://www.chiefdelphi.com/forums/sh...d.php?t=103629 |
As far as I can tell from reading that thread, it is a LabView only feature. (no?) We are using C++. I don't seem to see that in C++ WPILib. In any case, like I said, we are planning to implement a wrapper class that shadows all config and parameters of the Jag, then we will create a periodic task (say 100 msec period) that will communication with each Jag once in each period to communicate the "changes". So if the caller is calling more often than this period, it will just get/change the cached shadow copy. I suppose this is exactly what the LabView library is providing. It would be great if the CANJaguar class in WPILib will support this for next year (also implementing the brownout safeguard).