Quote:
Originally Posted by dtengineering
The possibility of off-loading PID, limit switch handling and all that to the speed controller is a real paradigm shift for me... it means that anything that can send a serial signal is suddenly a pretty powerful robot controller! Got an old laptop kicking around?
Jason
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Jason,
I believe the motor sensor inputs are just using the CAN bus interface within the Jag to port data back to the controller. They are not handled within the individual Jag independent of a controller. The limit switches do function when using PWM but under the 2010 robot rules, you may only provide limit switches when using the Jag under CAN bus control and then only to port limit data back to the controller.
R60
L. If CAN-bus functionality is used, limit switch jumpers may be removed from a Jaguar speed controller and a custom limit switch circuit may be substituted (so that the cRIO-FRC may read the status of the limit switches).