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Unread 20-01-2011, 19:14
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Using encoder with jaguar
My team saw in a PDF that it was possible to use an encoder connected to a jaguar to regulate the speed. Unfortunately, we haven't been able to find any information about actually DOING this in C++. Is there any example code that shows how to do this?
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Unread 20-01-2011, 19:45
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Re: Using encoder with jaguar
Quote:
Originally Posted by demosthenes2k8 View Post
Is there any example code that shows how to do this?
If there was example code for everything, FIRST wouldn't exist.

Learn how to use the encoder, learn how to use the Jaguars, research on closed-loop controllers. Do your homework!
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Unread 20-01-2011, 22:04
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Re: Using encoder with jaguar
It's possible, and example code exists (see the CANJaguar project on FIRST Forge) but you'll need to use CAN instead of PWM control for your Jags, which is a whole 'nother can of worms.
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Unread 20-01-2011, 22:13
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Re: Using encoder with jaguar
Oh, we're already using CAN, so that's not a problem.
We think we ended up finding out what we needed, we just have to initialize it with kSpeed, set the speed reference, and convert joystick values into RPM.
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Unread 20-01-2011, 22:47
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Re: Using encoder with jaguar
Don't forget to set your PID values..
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Unread 20-01-2011, 23:55
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Re: Using encoder with jaguar
Sorry, using velocity or another other closed loop control on the Jaguars has been deemed illegal. See here: http://www.chiefdelphi.com/forums/sh...43#post1004743
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Unread 21-01-2011, 11:34
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Re: Using encoder with jaguar
Ouch. Welll...I guess that settles it, then.
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Unread 22-01-2011, 11:44
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Re: Using encoder with jaguar
it is allowed from what i've seen, check team update 4
http://usfirst.org/uploadedFiles/Rob..._Update_04.pdf
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Re: Using encoder with jaguar
Yeah, we found that. Thank you!
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