Quote:
Originally Posted by RaiderRobotics
Oh. So, if you have to have an encoder anyway, then really the CAN mode Jaguar is not much better in terms of what it can do. One object or two - not much of a big difference from programming standpoint.
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I wouldn't say that.
The idea behind supporting closed loop control via CAN was to have the sensor (encoder, potentiometer, limit switch, etc.) directly connected to the motor controller so that the processing power of the CPU (MCU) within the motor controller could be harnessed to do the control loop (PID).
This has some advantages:
1. Less processing run on the main robot controller means more cycles for other things.
2. The loop rate of the PID on the motor controller can be higher since there is no communication delay. The motor controller reads the sensor (directly), performs the PID computation, and updates the output to the motor. On Jaguar, this now happens at 1 kHz.
Advantage 1 (above) gets reduced every time more processing power, memory, etc. gets added to the robot controller. However, advantage 2 is still there. In fact, I'd argue that if there wasn't an advantage of using closed loop control via CAN, the smart folks at Cross the Road Electronics wouldn't have made the Talon SRX.
So, using CAN on Jaguar or Talon SRX to use this has some benefits.