[biojae]

So, the banebots RS-555 has 5 brushes. If I had a jaguar on the CAN bus, could the brush count be used for either the Position or speed control mode?

would something like this work?

public static class PositionReference {

        public final byte value;
        static final byte kEncoder_val = 0;
        static final byte kPotentiometer_val = 1;
        static final byte kBrushes_val = 2;
        public static final PositionReference kEncoder = new PositionReference(kEncoder_val);
        public static final PositionReference kPotentiometer = new PositionReference(kPotentiometer_val);
        public static final PositionReference kBrushes = new PositionReference(kBrushes_val);

        private PositionReference(byte value) {
            this.value = value;
        }
    }

public void configMotorBrushes(short brushes) {
        byte[] dataBuffer = new byte[8];
        byte dataSize;

        dataSize = packINT16(dataBuffer, brushes);
        setTransaction(LM_API_CFG_NUM_BRUSHES, dataBuffer, dataSize);
    }

CANJaguar brushedDCMotor = new CANJaguar(2, ControlMode.kPosition);
brushedDCMotor.setPositionReference(PositionReference.kBrushes);
brushedDCMotor.configMotorBrushes(5);
brushedDCMotor.enableControl(0.0);