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 As we all know, a low Center of Gravity is a beautiful thing. - Andy Baker [more] |
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| As we all know, a low Center of Gravity is a beautiful thing. - Andy Baker [more] |
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Speed direction in CAN?
When using quadrature encoders directly connected to the Jaguars, we noticed that the speed returned over CAN is always positive, whichever direction the wheel rotates. We see this both via our Java code and using the BDC-COMM utility.
This causes difficulty running closed loop since the signs of the PID values would depend on the wheel direction, and I'd rather not change PID values on the fly to avoid possible instability. The most likely explanation is that we made a wiring error and are only getting a single A or B channel from all of our wheel encoders - I won't be able to check until tomorrow - but I'd like to confirm that the Jaguar firmware is working correctly. So has anyone successfully seen a negative speed returned over CAN from a Jaguar? 
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