void RawControl::checkJag()
{
if(frontRight->GetFaults()!=0)
{
frontRight->ConfigNeutralMode(CANJaguar::kNeutralMode_Brake);
frontRight->SetSafetyEnabled(false);
frontRight->ConfigEncoderCodesPerRev(360);
frontRight->EnableControl(0);
}
if(frontLeft->GetFaults()!=0)
{
frontLeft->ConfigNeutralMode(CANJaguar::kNeutralMode_Brake);
frontLeft->SetSafetyEnabled(false);
frontLeft->ConfigEncoderCodesPerRev(360);
frontLeft->EnableControl(0);
}
if(backLeft->GetFaults()!=0)
{
backLeft->ConfigNeutralMode(CANJaguar::kNeutralMode_Brake);
backLeft->SetSafetyEnabled(false);
backLeft->ConfigEncoderCodesPerRev(360);
backLeft->EnableControl(0);
}
if(backRight->GetFaults()!=0)
{
backRight->ConfigNeutralMode(CANJaguar::kNeutralMode_Brake);
backRight->SetSafetyEnabled(false);
backRight->ConfigEncoderCodesPerRev(360);
backRight->EnableControl(0);
}
if(arm->GetFaults()!=0)
{
arm->SetPID(ARM_P, -.02, 0);
arm->ConfigNeutralMode(CANJaguar::kNeutralMode_Brake);
arm->SetSafetyEnabled(false);
arm->ConfigMaxOutputVoltage(13);
arm->SetPositionReference(CANJaguar::kPosRef_Potentiometer);
arm->ConfigPotentiometerTurns(1);
arm->EnableControl(0);
}
}
//CHECK THIS OUT!!
void RawControl::configJags() {
//will need to be tuned on the new robot
frontLeft->SetPID(3, .07, 0);//tested values are 1,.02,0
frontRight->SetPID(3, .09, 0);
backLeft->SetPID(1, .013, 0);
backRight->SetPID(1.2, .013, 0);
arm->SetPID(ARM_P, -.02, 0);
backLeft->ConfigNeutralMode(CANJaguar::kNeutralMode_Brake);
frontLeft->ConfigNeutralMode(CANJaguar::kNeutralMode_Brake);
frontRight->ConfigNeutralMode(CANJaguar::kNeutralMode_Brake);
backRight->ConfigNeutralMode(CANJaguar::kNeutralMode_Brake);
arm->ConfigNeutralMode(CANJaguar::kNeutralMode_Brake);
//shoot everything remotely safety related
backLeft->SetSafetyEnabled(false);
backRight->SetSafetyEnabled(false);
frontLeft->SetSafetyEnabled(false);
frontRight->SetSafetyEnabled(false);
arm->SetSafetyEnabled(false);
frontLeft->ConfigMaxOutputVoltage(13);
frontRight->ConfigMaxOutputVoltage(13);
backLeft->ConfigMaxOutputVoltage(13);
backRight->ConfigMaxOutputVoltage(13);
arm->ConfigMaxOutputVoltage(13);
frontLeft->SetSpeedReference(CANJaguar::kSpeedRef_Encoder);
frontRight->SetSpeedReference(CANJaguar::kSpeedRef_Encoder);
backRight->SetSpeedReference(CANJaguar::kSpeedRef_Encoder);
backLeft->SetSpeedReference(CANJaguar::kSpeedRef_Encoder);
arm->SetPositionReference(CANJaguar::kPosRef_Potentiometer);
//not sure on these values either
frontLeft->ConfigEncoderCodesPerRev(360);
frontRight->ConfigEncoderCodesPerRev(360);
backLeft->ConfigEncoderCodesPerRev(360);
backRight->ConfigEncoderCodesPerRev(360);
arm->ConfigPotentiometerTurns(1);
frontLeft->ChangeControlMode(CANJaguar::kPercentVbus);
frontRight->ChangeControlMode(CANJaguar::kPercentVbus);
backLeft->ChangeControlMode(CANJaguar::kPercentVbus);
backRight->ChangeControlMode(CANJaguar::kPercentVbus);
frontLeft->EnableControl(0);
frontRight->EnableControl(0);
backLeft->EnableControl(0);
backRight->EnableControl(0);
frontLeft->ConfigFaultTime(0);
backLeft->ConfigFaultTime(0);
backRight->ConfigFaultTime(0);
frontRight->ConfigFaultTime(0);
arm->ConfigFaultTime(0);
arm->EnableControl(0);
arm->EnableControl(0);
/*
fl=new CANJaguar(2,CANJaguar::kSpeed);
fr=new CANJaguar(3,CANJaguar::kSpeed);
bl=new CANJaguar(4,CANJaguar::kSpeed);
br=new CANJaguar(1,CANJaguar::kSpeed);
fl->SetSpeedReference(CANJaguar::kSpeedRef_Encoder);
fr->SetSpeedReference(CANJaguar::kSpeedRef_Encoder);
br->SetSpeedReference(CANJaguar::kSpeedRef_Encoder);
bl->SetSpeedReference(CANJaguar::kSpeedRef_Encoder);
fl->ConfigEncoderCodesPerRev(1440);
fr->ConfigEncoderCodesPerRev(1440);
bl->ConfigEncoderCodesPerRev(1440);
br->ConfigEncoderCodesPerRev(1440);
*/
}