Gray Jaguar CAN closed-loop speed control

[Ether]

Was any team successful in running closed-loop speed control this season with Gray Jaguars with the optical encoder signals going directly to the Jaguars ?

If so, I have a LabVIEW programmer here who would like to work on this off-season because he never got a chance to do it this year, and he has some questions.

My understanding is the following:

- he will have to update the firmware on the jags

- he will have to use some sort of 3rd-party RS232-to-CAN converter bridge (because the Gray Jags do not have this functionality)

- there is no built-in support for the Jaguar CAN interface in the 2010 FRC LabVIEW installation, so he will have to use 3rd-party VIs from WPI located at http://firstforge.wpi.edu/sf/projects/canjaguar

- the 3rd-party WPI VIs do not support all the control and monitoring capabilities that the Jaguar offers (or so I am told)

Is the above correct? Are there any other issues to be aware of?

Finally, is there a technical document for the Gray Jaguars that explains the Jag's API in sufficient detail that he could develop his own VI if he wanted?

Thank you.


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