jaguar speed control of mecanum wheels

[lscime]

As far as I know the PWM signals only tell the Jaguar to adjust it's output voltage, there is no feedback from the motors to the Jaguars. I do believe that you can wire say a limit switch directly to the Jaguar to make it stop or start (or brake or coast) but I know of no way to hook an optical encoder-type device to the Jaguar directly.
We are using Holonomic Mecanum drive this year and it functions fine without using a PID loop to adjust the wheel speeds (although we did that last year for traction-control ).

Good Luck!

[dyanoshak]

The servo signal input to the Jaguar controls the voltage output. There isn't built-in closed-loop control when using the servo signal input.

You can definitely connect an optical encoder to the Jaguar. Please see the Getting Started Guide at www.luminarymicro.com/jaguar for an overview on all the possible control modes that the Jaguar supports.

You can connect encoders, limit switches, and/or analog potentiometers (or other analog signals) to the Jaguar inputs. Using CAN, you can change the mode to control voltage, speed, position (like a hobby servo, for example, imagine a CIM motor that holds position like a servo!), and current and then change parameters for P, I, and D so that the Jaguar does all the closed-loop control for you.

-David

[Ether]

Originally Posted by lscime

As far as I know the PWM signals only tell the Jaguar to adjust it's output voltage, there is no feedback from the motors to the Jaguars. I do believe that you can wire say a limit switch directly to the Jaguar to make it stop or start (or brake or coast) but I know of no way to hook an optical encoder-type device to the Jaguar directly.
We are using Holonomic Mecanum drive this year and it functions fine without using a PID loop to adjust the wheel speeds (although we did that last year for traction-control ).

Good Luck!

Hi lscime,

Thanks for sharing your experience with mecanum without closed-loop control of drive wheels. I think that's what we are going to settle for this year because giving our brand-new software guys another task would be too much at this point I think.


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