Working CAN Jaguar [w/ Example Code]

Technical C/C++
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We recently got CAN working on our test platform. I hope we can save all of the c++ teams a bit of time with this:

One Black Jaguar

#include "WPILib.h" //includes everything

/**
WORKING CAN JAGUAR - CYBERHAWKS 706
Built from simple template
 */ 
class RobotDemo : public SimpleRobot
{
	RobotDrive myRobot; // robot drive system, NOT USED
	Joystick stick; // only joystick
	CANJaguar jag;

public:
	RobotDemo(void):
		myRobot(3, 4),	// these must be initialized in the same order
		stick(1),		// as they are declared above.
		jag(1, CANJaguar::kSpeed)
		//jag(1)
	{
		myRobot.SetExpiration(0.1);
	}

	/**
	 * Drive left & right motors for 2 seconds then stop, NOT CAN
	 */
	void Autonomous(void)
	{
		myRobot.SetSafetyEnabled(false);
		myRobot.Drive(0.5, 0.0); 	// drive forwards half speed
		Wait(2.0); 				//    for 2 seconds
		myRobot.Drive(0.0, 0.0); 	// stop robot
	}

	/**
	 * Runs the motors with arcade steering. 
	 */
	void OperatorControl(void)
	{
//Set up CAN
		myRobot.SetSafetyEnabled(false);//on a dev board
		jag.SetPID(0.4, 0.005, 0.0);//PID
		jag.ConfigEncoderCodesPerRev(200);//This can change
		jag.SetSpeedReference(CANJaguar::kSpeedRef_Encoder);//NEED
		jag.EnableControl();//NEED
		
		DriverStationLCD *d_st = DriverStationLCD::GetInstance();//DS

		
		while (IsOperatorControl())
		{
			//myRobot.ArcadeDrive(stick); // simple template
			//jag.Set(20);
			jag.Set(stick.GetY()*150.0);//Set Jag


//The rest is DS output
			//printf("%f
",stick.GetY());
			//printf("jag temp %f  speed %f  %f   %f  ref=%d
",jag.GetTemperature(),
			//		jag.GetSpeed(),jag.GetOutputVoltage(),
			//		jag.GetOutputCurrent(), jag.GetSpeedReference());
			
			
			d_st->Printf(DriverStationLCD::kUser_Line1,1,"speed = %3.2f   ", jag.GetSpeed());
			d_st->Printf(DriverStationLCD::kUser_Line2,1,"set speed = %3.2f   ", stick.GetY()*150.0);
			d_st->Printf(DriverStationLCD::kUser_Line3,1,"current = %3.2f ", jag.GetOutputCurrent());
			d_st->UpdateLCD();
			Wait(0.005);				// wait for a motor update time
		}
	}
};

START_ROBOT_CLASS(RobotDemo);

Master/Slave:

#include "WPILib.h"


/**
 * CAN JAGUAR
 * Uses A master slave setup.  We are using 2CAN controller connected to the bridge.  The master jaguar has an encoder.  The slave does not.  The slave gets output from the master.
 */ 
class RobotDemo : public SimpleRobot
{
	//RobotDrive myRobot; //  drive system
	Joystick rightstick; // right joystick
	Joystick leftstick;// left joystick
	CANJaguar jag1; //Jaguars
	CANJaguar jag2;


public:
	RobotDemo(void):
//old my robot		//myRobot(3, 4),	// Reminants of Simple template
		rightstick(1),		//right stick
		leftstick(2),		//left stick
		//Declare CAN jaguar channels
		jag1(1, CANJaguar::kSpeed),//jag master left
		jag2(2, CANJaguar::kVoltage)//jag slave left
	{
		jag1.SetExpiration(0.1);
		jag2.SetExpiration(0.1);

	}


	void Autonomous(void)
	{
		//none
			
	}

	void OperatorControl(void)
	{
		//Jag 1 set up
		jag1.SetSafetyEnabled(false);//This is on a dev board
		jag1.SetPID(0.4, 0.005, 0.0);//PID
		jag1.ConfigEncoderCodesPerRev(200);//Changes per encoder
		jag1.SetSpeedReference(CANJaguar::kSpeedRef_Encoder);//This is on a dev board
		jag1.EnableControl();
		//jag 2 set up
		jag2.SetSafetyEnabled(false);//This is on a dev board
		jag2.EnableControl();
		
		//DS stuff
		DriverStationLCD *d_st = DriverStationLCD::GetInstance();

		
		while (IsOperatorControl())
		{
			jag1.Set(rightstick.GetY()*150.0);
			jag2.Set(jag1.GetOutputVoltage());
			//printf("%f
",stick.GetY());
			//printf("jag temp %f  speed %f  %f   %f  ref=%d
",jag.GetTemperature(),
			//		jag.GetSpeed(),jag.GetOutputVoltage(),
			//		jag.GetOutputCurrent(), jag.GetSpeedReference());
			d_st->Printf(DriverStationLCD::kUser_Line1,1,"speed = %3.2f   ", jag1.GetSpeed());
			d_st->Printf(DriverStationLCD::kUser_Line2,1,"set speed = %3.2f   ", rightstick.GetY()*150.0);
			d_st->Printf(DriverStationLCD::kUser_Line3,1,"current = %3.2f ", jag1.GetOutputCurrent());
			d_st->UpdateLCD();
			Wait(0.005);				// wait for a motor update time
		}
	}
};

START_ROBOT_CLASS(RobotDemo);
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