2CAN C# Example

[David Doerr]

Originally Posted by ozrien

Be sure to use the non-FIRST Jaguar firmware. I have been using Jaguar version 5450...

Omar,

Where can one obtain the non-FIRST Jaguar firmware?

Does the non-FIRST firmware have working support for current-control and speed-control modes? (Apparently there were bugs that were fixed in FIRST version 91.)

Would it be possible to include a compiled proprietary module that could be used with one's own PC-based software -- like the C# software you've posted -- so that you wouldn't have to switch firmware when changing from cRIO-based to PC-based control (and back again)? That way trusted mode could be used with PC-based control without spilling the beans on trusted mode.

Thanks,
Dave

[Hugh Meyer]

The built in HTTP server in the 2CAN works really well also. Just hit the 2CAN IP address with a browser and you get all sorts of nice stuff.

[rrossbach]

Originally Posted by DaveD

Where can one obtain the non-FIRST Jaguar firmware?

Does the non-FIRST firmware have working support for current-control and speed-control modes? (Apparently there were bugs that were fixed in FIRST version 91.)

The non-FRC firmwares are included in the freely available development software from TI - there are separate ones for the grey Jags and black Jags.

Grey Jag kit: http://www.luminarymicro.com/products/rdk_bdc.html

Black Jag kit: http://www.luminarymicro.com/products/rdk_bdc24.html

Scroll down to the "Software Updates" section of those pages, and you'll see download links for the Firmware Development Package Software - you need to register to download. After you install the software, you'll see the firmware sources and binaries under INSTALL_DIR\boards\rdk-bdcXX. The Grey Jag firmware is qs-bdc; the Black Jag firmware is qs-bdc24.

Latest rev of the non-FRC firmwares is apparently 5961; the latest we've used is 5821 but have never had problems with any of the control modes in any of the non-FRC firmware.

As a side note our team (#2607) also ported the 2CAN cRIO plugin to run under Windows, and we use that to control the 2CAN from the PC. We've requested a firstforge project to post the code but it hasn't been approved/created yet.

Hope that helps!

- Ron
Team #2607 controls mentor

[Dale]

Often the mechanical folks want to test some aspect of the robot without asking the software folks to stop what they're doing and write a little test program.

If someone is industrious it would be great to have a windows program that you could load on a laptop to control of all the Jaguars on the bus without needing to have the cRIO involved.

Even better would be for the 2CAN web interface itself to allow you to set direction and power settings for various Jaguars.

[Radical Pi]

Originally Posted by Dale

If someone is industrious it would be great to have a windows program that you could load on a laptop to control of all the Jaguars on the bus without needing to have the cRIO involved.

For Serial bridge users that would be BDC-Comm (a little hard to use). For 2CAN jags that's not really possible without doing re-flashing of all of them for that one test and then re-flashing them to work with the cRIO (which means even more programmer time) because of the safety system put in by FIRST

[Peter Johnson]

Originally Posted by Radical Pi

For Serial bridge users that would be BDC-Comm (a little hard to use). For 2CAN jags that's not really possible without doing re-flashing of all of them for that one test and then re-flashing them to work with the cRIO (which means even more programmer time) because of the safety system put in by FIRST

I've successfully driven FIRST firmware jags with BDC-Comm, at least in voltage/%speed mode (current mode doesn't seem to work). Oops, re-read your post; you're right that over 2CAN it doesn't work with FIRST firmware.