CAN-Where to Start

[sam_who]

I'm trying to run a black jaguar with a 2CAN. I'm having only limited success. The jag works fine when in voltage mode ... not so well in speed mode. When I command the motor to move (in speed mode), I get a tiny bit of movement from the motor then nothing. Adjusting the PID values does not appear to make a difference. The driver station software states that I am enabling the jag. The LED on the jag is on steady (not pulsing). This behavior is consistent across several black jags. None are damaged. Switching back to voltage shows me that the jag works just fine.

Using BDC-COMM (yeah, non-CAN), the jag runs in either voltage or speed mode. I do have an encoder connected. I do have a terminating resistor at the end of the CAN chain. The results are similar whether I use a single jag or several jags. I can point my browser to the 2CAN ip address and view the status of all jags on the CAN bus. I updated the firmware on my jags to version 91 (yes, I used the black jag firmware version).

I'm wondering if I'm missing a hardware connection or (most probably) it's simply a programming issue. I'm programming in C++.

I have searched through these forums but have not found an answer that works.

The code I'm using now is pretty much a clone of the code at,

http://firstforge.wpi.edu/integratio...ystem=exsy1002

If anyone out there has successfully used C++ to operate a black jag in speed mode, could you please itemize the steps necessary to accomplish the task. The more specific the reply, the better.

One last unrelated thing. I've obviously figured out how to reply to a forum post. How to you start a new thread?

Thanks

Sam