New to 2CAN and Jaguar

[jhersh]

Originally Posted by mikets

Actually, few more questions: is the kPercentVbus mode essentially kVoltage but just scale to the range of -1.0 and 1.0? Only kSpeed and kPosition modes use encoder/potentiometer? Are kVoltage and kCurrent modes also considered close-loop modes? To me, close-loop means feedback. Monitoring output voltage and current so it can maintain constant values seem close-loop to me too even though it is not using any "external sensors" such as encoder and potentiometer.

Thanks.

Voltage mode is different. Lets take two cases:

If your battery voltage is 12V and you specify 0.5 in PercentVbus mode, you get 6V and if you specify 6V in Voltage mode, you get 6V.

If your battery voltage is 9V and you specify 0.5 in PercentVbus mode, you get 4.5V and if you specify 6V in Voltage mode, you get 6V.

Position, Speed, and Current (the sensor is inside the Jag, but external to the controller) are closed loop modes that use a PID algorithm with feedback. The Voltage mode is not closed loop because the setting is simply scaled based on the bus voltage, not corrected based on the resulting output. This is because unlike the other modes, the voltage can be controlled directly.

-Joe