SetVoltageRampRate

Technical C/C++
1

Our robot this year is in need of a of a one second ramp on the Can jags.

This is what i have so far. along with earlier setup.

       TheSucker1.ConfigNeutralMode(CANJaguar::kNeutralMode_Coast);
		TheSucker1.ChangeControlMode(CANJaguar::kVoltage);
		TheSucker1.SetVoltageRampRate(1);
		TheSucker1.SetSafetyEnabled(false);
		TheSucker1.EnableControl();
2

We have a CIM motor connected to a jaguar. We are using can Jaguars, and want a gradual ramp up of voltage. When calling the SetVoltageRampRate function, we know that an integer is required. No matter what number we use, there doesn’t appear to be any ramp.

What are the units of this function? volts per second was my guess, but it doesn’t seem to make a difference.

Any help appreciated.

3

The WPIlib documentation says you guessed right: “The maximum rate of voltage change in Percent Voltage mode in V/s.” But it also says the parameter is a double, not an int, and it seems to imply that you have to use PercentVbus Mode rather than Voltage Mode.