RobotDrive for CAN?

[camper365]

I'm new to using Windriver, we've been using Labview for the past 3 years, and I've been playing around enough to figure out the RobotDrive interface, but I was wondering if I can get it to work with CAN Jaguars. If not, where can I go to find basic documentation on how to program a CAN Jaguar system. I've done a lot of searching for how to use C++ for the CAN, but I can't really find anything that's basic on the software level (I found plenty on how to set up the hardware, which was incredibly nice).

EDIT: I found example code at FirstForge, and it made things make sense. Because I'm at home right now and won't have access to the robot until Monday, I won't know for sure if it works, but it looks like it will (meaning it won't).
http://firstforge.wpi.edu/integratio...ystem=exsy1002

[davidthefat]

While we are on the topic of CAN, why would you need it? What are the advantages of CAN? Why not stick to the ol' PWM?

[jtdowney]

Originally Posted by camper365

EDIT: I found example code at FirstForge, and it made things make sense. Because I'm at home right now and won't have access to the robot until Monday, I won't know for sure if it works, but it looks like it will (meaning it won't).
http://firstforge.wpi.edu/integratio...ystem=exsy1002

Just a heads up, the CAN Jaguar project on FIRST Forge is deprecated I believe. CAN functionality is now built into WPILib itself. You want to use the CANJaguar class found in CANJaguar.h. It implements SpeedController, which means it can be passed into the constructor of RobotDrive.

[~Cory~]

I hate to be "that" guy but, there is an entire subforum dedicated to
CAN. http://www.chiefdelphi.com/forums/fo...play.php?f=185

[Aren Siekmeier]

I don't know about C++, but in LabView the Open RobotDrive subroutine in WPILib is polymorphic and can either create a CANJaguar RobotDrive object or a PWM (Victor or Jaguar) RobotDrive object (or even a RobotDrive object from existing motor references). This may apply to C++ as well, having the same OO characteristics.

[EricS-Team180]

Originally Posted by compwiztobe

I don't know about C++, but in LabView the Open RobotDrive subroutine in WPILib is polymorphic and can either create a CANJaguar RobotDrive object or a PWM (Victor or Jaguar) RobotDrive object (or even a RobotDrive object from existing motor references). This may apply to C++ as well, having the same OO characteristics.

The same holds for the C++ WPIlib.

Why a CAN bus? Closed Minor Loop control and simplified wiring layout

Why not? with 9 years of Victor experience and 2 years of Jaguar experience, the nod for robustness goes to the Victors for now.

We really like the CAN bus but, will most likely revert to Vic's for the 2012 competition season. We'll see ...

Eric