R63 and mixed CAN-PWM designs

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R63 and mixed CAN-PWM designs

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18-01-2010, 10:51

s1900ahon

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AKA: Scott McMahon

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Re: R63 and mixed CAN-PWM designs

Quote:

Originally Posted by Shinigami2057

I understand why the closed-loop position control must be used with CAN, but not the limit switch control.

I believe the reason for this rule is that the robot control code running on cRIO must know (or be capable of knowing) the state of the motor controller. Your control code can read the state of the limit switches over CAN, but if using PWM there is no way to know that the limit switch was pressed and the Jaguar output disabled.

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