This is really a question for Joe, because I know he's most likely lurking around these parts
, but if anyone else knows the answer, please chime in.
We are planning to use Speed mode on our Jags (2Can-driven). I was reviewing the latest CANJaguar.cpp code (from FIRSTForge source), and noticed that in the InitJaguar() method, there is a switch statement that sends a control mode initialization message to the Jaguar. However, this is only done for Voltage mode, and no others.
My question: Is this an oversight, or do the other control modes indeed require no initialization message? I compared against the Java code, and in there, an init message is sent for each mode.
Like I said, we are "planning" to use Speed mode (still getting our encoders hooked up), otherwise I would just test this out to see if it actually makes a difference. I assume that someone else already has, and so if you have, did you have to change the C++ code to add in the init for the other modes?
Thanks in advance for any help!