void CANJaguarConfiguration :: Configure ( CANJaguar & Jag )
{
Jag.DisableControl ();
Jag.ConfigMaxOutputVoltage ( MaxOutputVoltage );
Jag.SetVoltageRampRate ( VoltageRampRate );
Jag.ConfigFaultTime ( FaultTime );
Jag.ConfigNeutralMode ( NeutralMode );
Jag.ConfigLimitMode ( LimitMode );
Jag.ConfigForwardLimit ( ForwardPositionLimit );
Jag.ConfigForwardLimit ( ReversePositionLimit );
switch ( Feedback )
{
case kFeedbackType_None:
switch ( Mode )
{
case CANSpeedController :: kPercentVbus:
Jag.SetPercentMode ();
break;
case CANSpeedController :: kCurrent:
Jag.SetCurrentMode ( P, I, D );
Jag.Set ( 0 );
Jag.EnableControl ();
break;
case CANSpeedController :: kVoltage:
Jag.SetVoltageMode ();
break;
default:
Jag.SetVoltageMode ( CANJaguar :: Encoder, EncoderCounts );
Jag.ConfigMaxOutputVoltage ( 0.0 );
break;
}
break;
case kFeedbackType_Encoder:
switch ( Mode )
{
case CANSpeedController :: kPercentVbus:
Jag.SetPercentMode ( CANJaguar :: Encoder, EncoderCounts );
break;
case CANSpeedController :: kCurrent:
Jag.SetCurrentMode ( CANJaguar :: Encoder, EncoderCounts, P, I, D );
Jag.Set ( 0 );
Jag.EnableControl ();
break;
case CANSpeedController :: kSpeed:
Jag.SetSpeedMode ( CANJaguar :: Encoder, EncoderCounts, P, I, D );
Jag.Set ( 0 );
Jag.EnableControl ();
break;
case CANSpeedController :: kVoltage:
Jag.SetVoltageMode ( CANJaguar :: Encoder, EncoderCounts );
break;
default:
Jag.SetVoltageMode ( CANJaguar :: Encoder, EncoderCounts );
Jag.ConfigMaxOutputVoltage ( 0.0 );
break;
}
break;
case kFeedbackType_QuadEncoder:
switch ( Mode )
{
case CANSpeedController :: kPercentVbus:
Jag.SetPercentMode ( CANJaguar :: QuadEncoder, EncoderCounts );
break;
case CANSpeedController :: kCurrent:
Jag.SetCurrentMode ( CANJaguar :: QuadEncoder, EncoderCounts, P, I, D );
Jag.Set ( 0 );
Jag.EnableControl ();
break;
case CANSpeedController :: kSpeed:
Jag.SetSpeedMode ( CANJaguar :: QuadEncoder, EncoderCounts, P, I, D );
Jag.Set ( 0 );
Jag.EnableControl ();
break;
case CANSpeedController :: kPosition:
Jag.SetPositionMode ( CANJaguar :: QuadEncoder, EncoderCounts, P, I, D );
Jag.Set ( 0 );
Jag.EnableControl ();
break;
case CANSpeedController :: kVoltage:
Jag.SetVoltageMode ( CANJaguar :: QuadEncoder, EncoderCounts );
Jag.Set ( 0 );
Jag.EnableControl ();
break;
default:
Jag.SetVoltageMode ( CANJaguar :: Encoder, EncoderCounts );
Jag.ConfigMaxOutputVoltage ( 0.0 );
break;
}
break;
case kFeedbackType_Potentiometer:
switch ( Mode )
{
case CANSpeedController :: kPercentVbus:
Jag.SetPercentMode ( CANJaguar :: Potentiometer );
break;
case CANSpeedController :: kCurrent:
Jag.SetCurrentMode ( CANJaguar :: Potentiometer, P, I, D );
Jag.Set ( 0 );
Jag.EnableControl ();
break;
case CANSpeedController :: kPosition:
Jag.SetPositionMode ( CANJaguar :: Potentiometer, P, I, D );
Jag.Set ( 0 );
Jag.EnableControl ();
break;
case CANSpeedController :: kVoltage:
Jag.SetVoltageMode ( CANJaguar :: Potentiometer );
break;
default:
Jag.SetVoltageMode ( CANJaguar :: Encoder, EncoderCounts );
Jag.ConfigMaxOutputVoltage ( 0.0 );
break;
}
break;
}
};
