CANJaguar current mode

[Spectare]

I am on the IgKnighters Team at McQuaid, I am trying to program some small BaneBot DC motors, but I cannot find a way to set the maximum current draw of a CANJaguar so as to not burn out the motor. I can find voltage, but not current. I have tried changeControlMode(CANJaguar.ControlMode.kCurrent), but I am at a loss as for what to do after that. Can Anyone help with this? Thanks in advance!

[drakesword]

if you use the current control mode then what you set with the set method is the current outputted to the motor.

for example

jag.set(10);

Would set the jag to output ~10 amps.

also you can consider the getOutputCurrent() to return the current it is currently outputting

[Joe Ross]

There is no built in way in the jaguar to limit current while using one of the closed loop control methods. However, Ether wrote a white paper called CAN Jaguar Speed or Current Control with Current Limit or Thermal Cutoff which shows an algorithm for doing this on the cRIO.

[Spectare]

Originally Posted by Joe Ross

There is no built in way in the jaguar to limit current while using one of the closed loop control methods. However, Ether wrote a white paper called CAN Jaguar Speed or Current Control with Current Limit or Thermal Cutoff which shows an algorithm for doing this on the cRIO.

Thanks, I actually found out that a CANJaguar will not supply more current(or voltage) than is supported by the motor, so . But thanks anyway for the reply.