Problem using encoders on Jaguar

[duane]

Sure would be nice to know how you got rid of the -52007 errors. I believe that error is causing the robot to trip the watchdog.

We aren't doing anything with PID at this point. Just using the simple drive system. We can see the Jaguars responding, but they periodically flash off when the watchdog is hit.

Glad you got things working.

[Mr-Shutter]

Our PID values we are using are the same we are using on BDC-COM,
It is highlighted in the image we posted earlier.
We do a get on our PID values from the device to check that it is the same, and it is... It is very frustrating :<

[taichichuan]

Hi Guys,

Could you post your code to set up the jags to run in speed mode? Are you using a shaft encoder? If so, could you also post the set up sequence you're using to set and read the encoder position? I'd like to add it to my Jaguar how-to document.

TIA,

Mike

[notmattlythgoe]

Here is a pic of our 4 motor drive setup. What we did was modify the FirstForge 4 motor setup vi to set it up for speed control instead. To do this we had to set the encoder rate, set the pid values, and enable it to allow the jaguars to have control. Then all we did was calculate the direction and magnitude and used the holonomic vi FirstForge provided. W actually never read the encoder rates while they are running and never set encoders up to use, the jaguars do all of this for us. What we did realize is that once you put the jaguars in speed mode you now send the jaguars the rate you want the motors spinning in rotations per second, unlike what the bd-comm application does.

[notmattlythgoe]

It would help if I attached the pic >.<

[Mr-Shutter]

Hmm, It appears that there is an Over flow on the accumulator for the PID loop
I think the Labview code encodes the Double wrong when it sends it as a u32 Int. I am going to try sending it bytes i captured from bdc-com and see what happens :3