can drive

[Method]

hello! I am using can jags and a custom drive-- not too complex atm but i have some bugs.

The code builds and runs on the robot but the indicator lights on the jags show no changes as the controllers are used.


//def so remotes work
#define IO (DriverStation::GetInstance()->GetEnhancedIO())

//declarations
CANJaguar lefty, righty, leftyB, rightyB, intake, arm, LTop, LBot;
Joystick pilot, copilot;

//constructs
DoctaEight(void):
pilot(1),
copilot(2),
lefty(2),
righty(3),
leftyB(4),
rightyB(5),
{
GetWatchdog().Kill();
lefty.ChangeControlMode(CANJaguar::kPercentVbus);
righty.ChangeControlMode(CANJaguar::kPercentVbus);
leftyB.ChangeControlMode(CANJaguar::kPercentVbus);
rightyB.ChangeControlMode(CANJaguar::kPercentVbus) ;
intake.ChangeControlMode(CANJaguar::kPercentVbus);
LTop.ChangeControlMode(CANJaguar::kPercentVbus);
LBot.ChangeControlMode(CANJaguar::kPercentVbus);
}

//drive
//negate is just a positive or negative char to turn the drive
void DoctaEight::drive(void)
{
GetWatchdog().Kill();
if (pilot.GetY() > 0 && pilot.GetX() >= 0)//forward right
{
lefty.Set(pilot.GetY() * negate);//left motors full
leftyB.Set(pilot.GetY() * negate);//left motors full
righty.Set(( pilot.GetY() - pilot.GetX() * 2 ) * negate);//right motors full dec by twiceX abs X
rightyB.Set(( pilot.GetY() - pilot.GetX() * 2 ) * negate);
}//(so up to x = 0 right rev and when y negative, backward curve)
else if (pilot.GetY() < 0 && pilot.GetX() > 0)//backward left
{
righty.Set(pilot.GetY() * negate * -1);
rightyB.Set(pilot.GetY() * negate * -1);
lefty.Set((pilot.GetY() - pilot.GetX() * 2) * negate);
leftyB.Set((pilot.GetY() - pilot.GetX() * 2) * negate);
}
else if (pilot.GetY() > 0 && pilot.GetX() <= 0)//forward left
{
righty.Set(pilot.GetY() * negate);
rightyB.Set(pilot.GetY() * negate);
lefty.Set((pilot.GetX() * 2 + pilot.GetY()) * negate);
leftyB.Set((pilot.GetX() * 2 + pilot.GetY()) * negate);
}
else if (pilot.GetY() < 0 && pilot.GetX() < 0)//back right
{
lefty.Set(pilot.GetY() * negate * -1);//left full back
leftyB.Set(pilot.GetY() * negate * -1);//left full back
righty.Set(( pilot.GetY() + pilot.GetX() * 2 ) * negate);//right morots full dec by twice abs X
rightyB.Set(( pilot.GetY() + pilot.GetX() * 2 ) * negate);
}
else
{
righty.Set(pilot.GetY() *negate);
rightyB.Set(pilot.GetY() *negate);
lefty.Set(pilot.GetY() *negate);
leftyB.Set(pilot.GetY() *negate);
}
}



We used 4prom modular cable- telephone wire- to connect the can jags to the Crio. The values set in the jags during firmware update are 2, 3, 4 and 5. Controllers are in USB ports on DS. When the Crio was imaged we selected 'black jaguar can jags crio connection' (that is not verbatim as i do not remember such)


Please assist.