We are having a problem where we can use BDC-COMM to access and control jaguars, but when using the black jaguars in LabVIEW as CAN, and using the appropriate serial adapter and cables (RJ12 6p6c), they appear as if to be stuck in pwm mode (flashing lights, as opposed to the solid when they are in CAN mode). We can read from them with LabVIEW, but not write: e.g. set values for motion.
Black Jag with FW V92
cRIO FW V25
LabView 8.6.1f3 update 3.1
We have tried the jaguars in a single and daisy chain configuration with the same problem; controllable via BDC-COMM but not LabVIEW.
(I’m a mentor for 2865 who initially discovered and attempted to diagnose the issue) The plugin is set, we are using the firmware utility that uses “net console” (built 12.16.2010 if memory serves, acquired from the PDF describing how to get CAN working) which we enable and select the Black Jaguar plugin. In addition we have tried the latest public (v28) firmware for the cRIO, I haven’t been able to locate an older version, but I imagine I would get a similar result.
The robot is not enabled, nor is the driver station in the loop, but it also does not check any state, or for that matter the presence of a driver station. All it does is attempt to set the value of the jaguars, which it simply fails quietly at.
Note we can read just fine, so we know the bus is working, and for all intensive purposes should function just fine. We have tried 2 different cRIO’s so unless there is an issue with the firmware, the firmware utility, the black jaguar plugin* or somehow two cRIO’s have the exact same malfunction; it must be an issue in the code which I am unable to identify. I have attached the code we are using (note: 11 is the valid device number as we do get feedback from that jaguar)
*This is who, if not the code, is probably causing the issue, as it is the only commonality between all the tests.
If it is not connected via the Driver Station, you cannot set the output of the Jaguar. This is one of the things that is specific to the FIRST Jaguar firmware.
This seems like something that should be listed in the documentation somewhere, under a section like “Things you need to know about the RobotDrive Algorithms” or something to that extent.
