Help! Velocity control with Jaguars and CAN

[pianogrrl71]

If you are using two jags to control two motors and one gear box, how do you use the jaguar in position or speed control?

Our system is using two jags to power two CIMs and one CIMple gearbox, with one US Digital encoder.

So we were trying to tune the PID for our drive, and it was printing the speed and position the first time. However, it would only do it the first time it went though, because we had a function that cleared the driver station LCD and it wouldn't print anything after we ran that. We're also using JAVA and Netbeans.

We eventually figured out that it was a can timeout exception when we left our coding computer plugged in. Then we kept getting CAN-time exceptions. We thought we were overloading them so we put it in delays -- big delays too, like 0.1. We've tried uncommenting and commenting things and breaking up the try-catch it was erroring in. They seemed to change almost randomly, printing the speed or position for a few seconds before erroring and still moving but not giving us back the values. So we think we could set them always, just not get them....

When we took out the delays and slave motors, it worked, but we don't want to do that because it might burn out the slave motors. We're really confused as what to do, and we don't even really know what the problem is.... so if anything needs clarification....

Thank you!!!