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Originally Posted by Cal578
Ooh, and how about the ability for one Jaguar's PID to slave itself to another. Because we often use two motors on one shaft and one encoder.
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Oooooooh! I forgot about "follow me" mode. You can do sync groups now, but that doesn't link outputs.
Master - slave could be done with making PWM ports bi-direction configurable. I would hate to flood the CAN bus with all of the sync traffic.
What about multiple bridging CAN buses. Instead of having a passive daisy chain link, make both ports terminated buses, where traffic is repeated across from one port to another. With this, each network would be automatically terminated (like 10-BaseT vs. 10 -Base2 Ethernet). For master - slave, you could un-bridge the two CAN networks on the master node, and use the second CAN bus for sync traffic, exclusive to the pair.
Just more thoughts.
-- Len