Wiring limit switch to Jaguar w/o CAN

[TeraViks]

I'm looking to use a limit switch in it's simplest form to stop a motor when hit. I see the documentation for the Jaguar allows a limit switch to be plugged in to the Jaguar, but it doesn't give specifics. Also, I've seen threads here that suggest using a switch connected to the Jaguar but only when using CAN bus (we are not using CAN).

Can I use a limit switch to "shut off" the Jaguar by directly connecting it? I'd like to do it this way to make the programming as simple as possible.

Besides the Y / N answer, what are the specifics (how/why)? Thanks so much!

[Ether]

Originally Posted by TeraViks

I've seen threads here that suggest using a switch connected to the Jaguar but only when using CAN bus (we are not using CAN).

The Jaguar limit switch capability also works in PWM mode.

In past years, using the Jag's limit switch capability was allowed only in CAN mode.

Check the Robot chapter of the Game Manual to confirm that using it in PWM mode is allowed this year.

[Mark McLeod]

It seems we can use the Jaguar limit switch input without using CAN this year.

R65
...
J. Limit switch jumpers may be removed from a Jaguar motor controller and a custom limit switch circuit may be
substituted.

and

R68
...
2. PWM configuration: If the Jaguar motor controller is controlled via PWM communications, the PWM port on the
Jaguar motor controller must be connected directly to a PWM port on the Digital Sidecar with a PWM cable.
No other device may be connected to these PWM ports. No other device may be connected to any other port
on the Jaguar motor controller with the exception of connection to the coast/brake port or the limit switch ports.

[TeraViks]

Thanks for the input! All pun intended :-)

It does look like, according to the Jaguar tech doc, that a limit switch can simply by used in place of the jumper and you would have immediate shutoff of the motor in that direction. Seems simple enough - now to go test!

It also seems that the analog input will accept a signal from a potentiometer - does that mean the Jaguar has built in PID controls? I'm no electrical whiz, but again it seems from the tech doc that one could directly connect a pot and have immediate feedback and control without having to mess with ugly code.

Thanks again for the help!

[Ether]

Originally Posted by TeraViks

does that mean the Jaguar has built in PID controls?

The Jag has built-in PID in the firmware. Must use CAN bus to access it.