My team is deciding to look into implementing CAN on our robot next year to communicate with our jaguar speed controllers. I have been put in charge of figuring this out. here is the problem. i know little about code (i can read it but cant write it), i know nothing about the jaguar speed controllers and i know nothing about the CAN system. My team codes in java. I need to know what would be a good place to start if i am going to learn about CAN before next season.
If you search the white papers, there are plenty of good papers detailing the hardware portion of CAN.
As for programming, the provided javadoc in netbeans contains all the details about the different methods. Here is the same thing online.
You can use this program from TI to manage your Jaguars. It is useful for testing. Make sure you have a serial cable.
The only thing we used CAN for last year was our shooter motor. We controlled it using the voltage mode, because our encoder/PID loop wasn’t giving consistent results. (If you take the time to read the CAN subforums, methods for determining PID constants are detailed). I’ve attached our [commented] file containing all our CAN code from last year.
Good Luck!
Shooter.java (1.97 KB)
Shooter.java (1.97 KB)