2012: Tuning the Jaguar's Speed Control PID Loop

[jhersh]

Originally Posted by mjcoss

My CANJaguar.h does not have a GetStatus method, nor does the WindRiver IDE show any method by that name for my CANJaguar object. And I do look at the headers.

/**
 * Get the recently set outputValue setpoint.
 * 
 * The scale and the units depend on the mode the Jaguar is in.
 * In PercentVbus Mode, the outputValue is from -1.0 to 1.0 (same as PWM Jaguar).
 * In Voltage Mode, the outputValue is in Volts.
 * In Current Mode, the outputValue is in Amps.
 * In Speed Mode, the outputValue is in Rotations/Minute.
 * In Position Mode, the outputValue is in Rotations.
 * 
 * @return The most recently set outputValue setpoint.
 */
float CANJaguar::Get()

/**
 * Get the speed of the encoder.
 * 
 * @return The speed of the motor in RPM based on the configured feedback.
 */
double CANJaguar::GetSpeed()