CAN Drive implementation problems

Technical NI LabVIEW
#1

We have implemented CAN Drive with Jags in Labview, and when we connected with the driver station it said the Robot had communication and it said there was code loaded on the robot but any joystick input wouldn’t translate to the robot. Here’s what the code looks like in (we’re using mecanum drive BTW):
Begin.vi
http://i758.photobucket.com/albums/xx230/megasilver335/canjaguar_zps92a03905.png](http://s758.photobucket.com/user/megasilver335/media/canjaguar_zps92a03905.png.html)

Teleop.vi
http://i758.photobucket.com/albums/xx230/megasilver335/teleop_zps333c4dd6.png](http://s758.photobucket.com/user/megasilver335/media/teleop_zps333c4dd6.png.html)

We already reimaged the cRIO to use the CAN Serial thingy.
We didn’t wire the encoders on the jags yet, would that be why?

#2

Speed mode will not work without encoders on the jaguar. However, I would expect that the jaguars would go full speed, rather then not moving.

I don’t believe that RobotDrive is designed to work with speed mode on the CAN Jaguars. I think it only works with %Vbus.

#3

That would make sense.
Once we get the encoders all wired up I will give you an update.
Thank you!

#4

A closed-loop-control mode won’t run if all the PID gains are zero.

#5

:mad:
That… would make a lot of sense. Would all three (p, i and d) need to have values or just one (ie just p)?

#6