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); } }