Quote:
Originally Posted by 1075guy
(I'm not sure why we have to differentiate Jaguars from Victors in the cRIO code, but I know it has something to do with the refresh frequency (200Hz on Vics, 15kHz on Jags?)).
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It's actually the input range and "neutral" point of the control pulse width. The IFI control system theoretical neutral value is 1.5 milliseconds, corresponding to a value of 128. Jaguars are designed to that standard. Factory-calibrated Victors tend to have their neutral deadband centered closer to 133, which can cause asymmetric forward/reverse power unless you recalibrate everything or program things to deal with the offset neutral point. The WPI library for the NI control system takes that difference into account.