Jaguar Input Question

[Ether]

excerpt from Page 6 of MDL-BDC & MDL-BDC24 FAQ:

Do I need to calibrate the Servo (PWM) interface?

It depends. The motor controller has a calibration mode, and the need to calibrate depends on the Servo (PWM) signal range generated by the robot controller.

For FRC users, the answer is probably not if you are using the cRIO system and a new motor controller. The default parameters of the motor controller are tuned for use with the cRIO. The calibration mode is provided if you want to use the motor controller with another source of Servo (PWM) signal that does not have the same range of pulse widths (e.g. an older robot controller). Or, if you have calibrated your Jaguar (MDL‐BDC) from a different source and move it back to a cRIO system, you must recalibrate.

excerpt from Pages 13 & 14 of MDL-BDC24 Getting Started Guide:

Calibrating the PWM Input

To accommodate variation in the timing of the supplied signal, Jaguar has a calibrate feature that sets new values for full-forward, full-reverse and points in between. Calibration is normally only required in applications where the PWM source has uncertainties due to analog radio links or other variables. Direct digital sources are unlikely to require calibration.

To calibrate the servo-style PWM input for a specific range, connect a PWM source, then:

1. Hold down the USER switch with a straightened paperclip for 5 seconds.
2. The LED flashes Red and Green to indicate Calibration mode.
3. Instruct the controller to send a full-forward signal for one or more seconds.
4. Instruct the controller to send a full-reverse signal for one or more seconds.
5. The LED flashes Green and Yellow quickly to indicate a successful calibration.

The MDL-BDC24 samples these signals and centers the speed range and neutral position between these limits. A calibration failure signals if an out-of-range signal is detected. This condition is indicated by flashing the LED Red and Yellow.