CAN Jaguar enhancements

[jhersh]

Originally Posted by JasonStern

On a semi-related note, shouldn't the sync code be trusted as well? Otherwise I see a potential case where you define the set point when the robot is enabled, the robot then gets disabled, and then the sync command gets sent. Or am I missing something else that would prevent this from happening?

From looking at the jag source it appears that it would indeed enable while the robot is disabled, but it would time out after 100ms and turn back off. While it is a shortcoming of the jag firmware, it isn't a significant safety risk.

Joe

[Bryscus]

Jason,

When you do get this working, please share what the problems were with the original code, as we're also interested in implementing this in C++. Thanks.

- Bryce