1. Ive used the PID on the Jags, I couldn't figure out how to run the WPI PID.
2. I got about 450 rpm with the KOP US encoders, setting them to 360 degrees per turn
How we initialized our Jags
Code:
//Left Master, 360 Encoder
left_wheel1 = new CANJaguar(2);
left_wheel1.changeControlMode(CANJaguar.ControlMode.kSpeed);
left_wheel1.setPID(drive_p, drive_i, drive_d);
left_wheel1.configEncoderCodesPerRev(encoder_rev);
left_wheel1.setSpeedReference(CANJaguar.SpeedReference.kEncoder);
left_wheel1.enableControl();
//Left Slave
left_wheel2 = new CANJaguar(3);
left_wheel2.changeControlMode(CANJaguar.ControlMode.kVoltage);
left_wheel2.enableControl();
How we ran our jags
Code:
try{
left_wheel1.setX(eft_motor);//master
left_wheel2.setX(left_wheel1.getOutputVoltage());//slave
}
catch(Exception ex){
ex.printStackTrace();
}
master, slave style, works like a charm!