New Jaguar Firmware: Version 90

Technical CAN
1

Hello everybody,

There is a new version of Jaguar and Black Jaguar firmware; version 90.

The new files are up on http://www.luminarymicro.com/jaguar.

Jaguar-90.bin
BlackJaguar-90.bin

This version fixes a bug in Speed Control Mode for both Gray and Black Jaguars. This bug makes the PID function behave differently in reverse than in forward. For example, you can tune your PID constants to where it holds speed stably in the forward direction but when you change over to reverse, the control loop is no longer stable. It is possible to have PID constants that work for both forward and reverse, but the bug makes it difficult.

Version 90 fixes this bug so that the PID operates the same in forward and in reverse.

This bug is only in Speed Control Mode. Therefore, if you are not using that mode, you do not have to update your firmware.

Good luck in Week 3!

-David

2

We are seeing differences in forward vs reverse directions while using current control mode. Is this a related issue?

3

You are absolutely right. We just released Version 91 to fix the issue. See this thread.

Thanks for spotting it!

-David

4

Actually, it was our controls team/mentor that found the anomaly. I’m glad you posted the intent of the fix for Version 90…