I'm trying to record speed and position of the jaguars, for motion tracking purposes. (I want the robot to record its location)
I'd like this to happen regardless of the control mode or enabled state of the motor. It's just a status command, so it should work, shouldn't it?
It doesn't appear to.
I've opened each Jaguar in voltage mode, and set the number of encoder lines, and done a position reference and a speed reference.
screenshot (I
overrode the logic so that the speed and position referencing will happen regardless of the mode.)
This is an important issue in the usability of CAN.