CANJaguar Class Reference

#include <CANJaguar.h>

Inheritance diagram for CANJaguar:

List of all members.

Public Types
enum	ControlMode {   kPercentVbus, kCurrent, kSpeed, kPosition,   kVoltage }
enum	Faults { kCurrentFault = 1, kTemperatureFault = 2, kBusVoltageFault = 4, kGateDriverFault = 8 }
enum	Limits { kForwardLimit = 1, kReverseLimit = 2 }
enum	PositionReference { kPosRef_QuadEncoder = 0, kPosRef_Potentiometer = 1, kPosRef_None = 0xFF }
enum	SpeedReference { kSpeedRef_Encoder = 0, kSpeedRef_InvEncoder = 2, kSpeedRef_QuadEncoder = 3, kSpeedRef_None = 0xFF }
enum	NeutralMode { kNeutralMode_Jumper = 0, kNeutralMode_Brake = 1, kNeutralMode_Coast = 2 }
enum	LimitMode { kLimitMode_SwitchInputsOnly = 0, kLimitMode_SoftPositionLimits = 1 }
Public Member Functions
	CANJaguar (UINT8 deviceNumber, ControlMode controlMode=kPercentVbus)
virtual float	Get ()
virtual void	Set (float value, UINT8 syncGroup=0)
virtual void	Disable ()
virtual void	PIDWrite (float output)
void	SetSpeedReference (SpeedReference reference)
SpeedReference	GetSpeedReference ()
void	SetPositionReference (PositionReference reference)
PositionReference	GetPositionReference ()
void	SetPID (double p, double i, double d)
double	GetP ()
double	GetI ()
double	GetD ()
void	EnableControl (double encoderInitialPosition=0.0)
void	DisableControl ()
void	ChangeControlMode (ControlMode controlMode)
ControlMode	GetControlMode ()
float	GetBusVoltage ()
float	GetOutputVoltage ()
float	GetOutputCurrent ()
float	GetTemperature ()
double	GetPosition ()
double	GetSpeed ()
bool	GetForwardLimitOK ()
bool	GetReverseLimitOK ()
UINT16	GetFaults ()
bool	GetPowerCycled ()
void	SetVoltageRampRate (double rampRate)
virtual UINT32	GetFirmwareVersion ()
UINT8	GetHardwareVersion ()
void	ConfigNeutralMode (NeutralMode mode)
void	ConfigEncoderCodesPerRev (UINT16 codesPerRev)
void	ConfigPotentiometerTurns (UINT16 turns)
void	ConfigSoftPositionLimits (double forwardLimitPosition, double reverseLimitPosition)
void	DisableSoftPositionLimits ()
void	ConfigMaxOutputVoltage (double voltage)
void	ConfigFaultTime (float faultTime)
void	SetExpiration (float timeout)
float	GetExpiration ()
bool	IsAlive ()
void	StopMotor ()
bool	IsSafetyEnabled ()
void	SetSafetyEnabled (bool enabled)
void	GetDescription (char *desc)
Static Public Member Functions
static void	UpdateSyncGroup (UINT8 syncGroup)
Static Public Attributes
static const INT32	kControllerRate = 1000
static const double	kApproxBusVoltage = 12.0
Protected Member Functions
UINT8	packPercentage (UINT8 *buffer, double value)
UINT8	packFXP8_8 (UINT8 *buffer, double value)
UINT8	packFXP16_16 (UINT8 *buffer, double value)
UINT8	packINT16 (UINT8 *buffer, INT16 value)
UINT8	packINT32 (UINT8 *buffer, INT32 value)
double	unpackPercentage (UINT8 *buffer)
double	unpackFXP8_8 (UINT8 *buffer)
double	unpackFXP16_16 (UINT8 *buffer)
INT16	unpackINT16 (UINT8 *buffer)
INT32	unpackINT32 (UINT8 *buffer)
virtual void	setTransaction (UINT32 messageID, const UINT8 *data, UINT8 dataSize)
virtual void	getTransaction (UINT32 messageID, UINT8 *data, UINT8 *dataSize)
Static Protected Member Functions
static INT32	sendMessage (UINT32 messageID, const UINT8 *data, UINT8 dataSize)
static INT32	receiveMessage (UINT32 *messageID, UINT8 *data, UINT8 *dataSize, float timeout=0.02)
Protected Attributes
UINT8	m_deviceNumber
ControlMode	m_controlMode
SEM_ID	m_transactionSemaphore
double	m_maxOutputVoltage
MotorSafetyHelper *	m_safetyHelper

---

Detailed Description

Luminary Micro Jaguar Speed Control

---

Constructor & Destructor Documentation

CANJaguar::CANJaguar	(	UINT8	deviceNumber,
		ControlMode	controlMode = kPercentVbus
	)		[explicit]

Constructor

Parameters:

deviceNumber

The the address of the Jaguar on the CAN bus.

---

Member Function Documentation

void CANJaguar::ChangeControlMode

(

ControlMode

controlMode

)

Change the control mode of this Jaguar object.

After changing modes, configure any PID constants or other settings needed and then EnableControl() to actually change the mode on the Jaguar.

Parameters:

controlMode

The new mode.

void CANJaguar::ConfigEncoderCodesPerRev

(

UINT16

codesPerRev

)

Configure how many codes per revolution are generated by your encoder.

Parameters:

codesPerRev

The number of counts per revolution in 1X mode.

void CANJaguar::ConfigFaultTime

(

float

faultTime

)

Configure how long the Jaguar waits in the case of a fault before resuming operation.

Faults include over temerature, over current, and bus under voltage. The default is 3.0 seconds, but can be reduced to as low as 0.5 seconds.

Parameters:

faultTime

The time to wait before resuming operation, in seconds.

void CANJaguar::ConfigMaxOutputVoltage

(

double

voltage

)

Configure the maximum voltage that the Jaguar will ever output.

This can be used to limit the maximum output voltage in all modes so that motors which cannot withstand full bus voltage can be used safely.

Parameters:

voltage

The maximum voltage output by the Jaguar.

void CANJaguar::ConfigNeutralMode

(

NeutralMode

mode

)

Configure what the controller does to the H-Bridge when neutral (not driving the output).

This allows you to override the jumper configuration for brake or coast.

Parameters:

mode	Select to use the jumper setting or to override it to coast or brake.

void CANJaguar::ConfigPotentiometerTurns

(

UINT16

turns

)

Configure the number of turns on the potentiometer.

There is no special support for continuous turn potentiometers. Only integer numbers of turns are supported.

Parameters:

turns

The number of turns of the potentiometer

void CANJaguar::ConfigSoftPositionLimits	(	double	forwardLimitPosition,
		double	reverseLimitPosition
	)

Configure Soft Position Limits when in Position Controller mode.

When controlling position, you can add additional limits on top of the limit switch inputs that are based on the position feedback. If the position limit is reached or the switch is opened, that direction will be disabled.

Parameters:

forwardLimitPosition	The position that if exceeded will disable the forward direction.
reverseLimitPosition	The position that if exceeded will disable the reverse direction.

void CANJaguar::Disable

(

)

[virtual]

Common interface for disabling a motor.

Deprecated:

Call DisableControl instead.

Implements SpeedController.

void CANJaguar::DisableControl

(

)

Disable the closed loop controller.

Stop driving the output based on the feedback.

void CANJaguar::DisableSoftPositionLimits

(

)

Disable Soft Position Limits if previously enabled.

Soft Position Limits are disabled by default.

void CANJaguar::EnableControl

(

double

encoderInitialPosition = 0.0

)

Enable the closed loop controller.

Start actually controlling the output based on the feedback. If starting a position controller with an encoder reference, use the encoderInitialPosition parameter to initialize the encoder state.

Parameters:

encoderInitialPosition

Encoder position to set if position with encoder reference. Ignored otherwise.

float CANJaguar::Get

(

)

[virtual]

Get the recently set outputValue setpoint.

The scale and the units depend on the mode the Jaguar is in. In PercentVbus Mode, the outputValue is from -1.0 to 1.0 (same as PWM Jaguar). In Voltage Mode, the outputValue is in Volts. In Current Mode, the outputValue is in Amps. In Speed Mode, the outputValue is in Rotations/Minute. In Position Mode, the outputValue is in Rotations.

Returns:

The most recently set outputValue setpoint.

Implements SpeedController.

float CANJaguar::GetBusVoltage

(

)

Get the voltage at the battery input terminals of the Jaguar.

Returns:

The bus voltage in Volts.

CANJaguar::ControlMode CANJaguar::GetControlMode

(

)

Get the active control mode from the Jaguar.

Ask the Jag what mode it is in.

Returns:

ControlMode that the Jag is in.

double CANJaguar::GetD

(

)

Get the Differential gain of the controller.

Returns:

The differential gain.

UINT16 CANJaguar::GetFaults

(

)

Get the status of any faults the Jaguar has detected.

Returns:

A bit-mask of faults defined by the "Faults" enum.

UINT32 CANJaguar::GetFirmwareVersion

(

)

[virtual]

Get the version of the firmware running on the Jaguar.

Returns:

The firmware version. 0 if the device did not respond.

bool CANJaguar::GetForwardLimitOK

(

)

Get the status of the forward limit switch.

Returns:

The motor is allowed to turn in the forward direction when true.

UINT8 CANJaguar::GetHardwareVersion

(

)

Get the version of the Jaguar hardware.

Returns:

The hardware version. 1: Jaguar, 2: Black Jaguar

double CANJaguar::GetI

(

)

Get the Intregral gain of the controller.

Returns:

The integral gain.

float CANJaguar::GetOutputCurrent

(

)

Get the current through the motor terminals of the Jaguar.

Returns:

The output current in Amps.

float CANJaguar::GetOutputVoltage

(

)

Get the voltage being output from the motor terminals of the Jaguar.

Returns:

The output voltage in Volts.

double CANJaguar::GetP

(

)

Get the Proportional gain of the controller.

Returns:

The proportional gain.

double CANJaguar::GetPosition

(

)

Get the position of the encoder or potentiometer.

Returns:

The position of the motor in rotations based on the configured feedback.

CANJaguar::PositionReference CANJaguar::GetPositionReference

(

)

Get the reference source device for position controller mode.

Returns:

A PositionReference indicating the currently selected reference device for position controller mode.

bool CANJaguar::GetPowerCycled

(

)

Check if the Jaguar's power has been cycled since this was last called.

This should return true the first time called after a Jaguar power up, and false after that.

Returns:

The Jaguar was power cycled since the last call to this function.

bool CANJaguar::GetReverseLimitOK

(

)

Get the status of the reverse limit switch.

Returns:

The motor is allowed to turn in the reverse direction when true.

double CANJaguar::GetSpeed

(

)

Get the speed of the encoder.

Returns:

The speed of the motor in RPM based on the configured feedback.

CANJaguar::SpeedReference CANJaguar::GetSpeedReference

(

)

Get the reference source device for speed controller mode.

Returns:

A SpeedReference indicating the currently selected reference device for speed controller mode.

float CANJaguar::GetTemperature

(

)

Get the internal temperature of the Jaguar.

Returns:

The temperature of the Jaguar in degrees Celsius.

void CANJaguar::getTransaction	(	UINT32	messageID,
		UINT8 *	data,
		UINT8 *	dataSize
	)		[protected, virtual]

Execute a transaction with a Jaguar that gets some property.

Jaguar always generates a message with the same message ID when replying.

Parameters:

messageID	The messageID to read from the CAN bus (device number is added internally)
data	The up to 8 bytes of data that was received with the message
dataSize	Indicates how much data was received

void CANJaguar::PIDWrite

(

float

output

)

[virtual]

Write out the PID value as seen in the PIDOutput base object.

Deprecated:

Call Set instead.

Parameters:

output

Write out the PercentVbus value as was computed by the PIDController

Implements PIDOutput.

INT32 CANJaguar::receiveMessage	(	UINT32 *	messageID,
		UINT8 *	data,
		UINT8 *	dataSize,
		float	timeout = 0.02
	)		[static, protected]

Receive a message from the CAN bus through the CAN driver in FRC_NetworkCommunication

Parameters:

messageID	The messageID to read from the CAN bus
data	The up to 8 bytes of data that was received with the message
dataSize	Indicates how much data was received
timeout	Specify how long to wait for a message (in seconds)

Returns:

Status of receive call

INT32 CANJaguar::sendMessage	(	UINT32	messageID,
		const UINT8 *	data,
		UINT8	dataSize
	)		[static, protected]

Send a message on the CAN bus through the CAN driver in FRC_NetworkCommunication

Trusted messages require a 2-byte token at the beginning of the data payload. If the message being sent is trusted, make space for the token.

Parameters:

messageID	The messageID to be used on the CAN bus
data	The up to 8 bytes of data to be sent with the message
dataSize	Specify how much of the data in "data" to send

Returns:

Status of send call

void CANJaguar::Set	(	float	outputValue,
		UINT8	syncGroup = 0
	)		[virtual]

Set the output set-point value.

The scale and the units depend on the mode the Jaguar is in. In PercentVbus Mode, the outputValue is from -1.0 to 1.0 (same as PWM Jaguar). In Voltage Mode, the outputValue is in Volts. In Current Mode, the outputValue is in Amps. In Speed Mode, the outputValue is in Rotations/Minute. In Position Mode, the outputValue is in Rotations.

Parameters:

outputValue	The set-point to sent to the motor controller.
syncGroup	The update group to add this Set() to, pending UpdateSyncGroup(). If 0, update immediately.

Implements SpeedController.

void CANJaguar::SetPID	(	double	p,
		double	i,
		double	d
	)

Set the P, I, and D constants for the closed loop modes.

Parameters:

p	The proportional gain of the Jaguar's PID controller.
i	The integral gain of the Jaguar's PID controller.
d	The differential gain of the Jaguar's PID controller.

void CANJaguar::SetPositionReference

(

PositionReference

reference

)

Set the reference source device for position controller mode.

Choose between using and encoder and using a potentiometer as the source of position feedback when in position control mode.

Parameters:

reference

Specify a PositionReference.

void CANJaguar::SetSpeedReference

(

SpeedReference

reference

)

Set the reference source device for speed controller mode.

Choose encoder as the source of speed feedback when in speed control mode.

Parameters:

reference

Specify a SpeedReference.

void CANJaguar::setTransaction	(	UINT32	messageID,
		const UINT8 *	data,
		UINT8	dataSize
	)		[protected, virtual]

Execute a transaction with a Jaguar that sets some property.

Jaguar always acks when it receives a message. If we don't wait for an ack, the message object in the Jaguar could get overwritten before it is handled.

Parameters:

messageID	The messageID to be used on the CAN bus (device number is added internally)
data	The up to 8 bytes of data to be sent with the message
dataSize	Specify how much of the data in "data" to send

void CANJaguar::SetVoltageRampRate

(

double

rampRate

)

Set the maximum voltage change rate.

When in PercentVbus or Voltage output mode, the rate at which the voltage changes can be limited to reduce current spikes. Set this to 0.0 to disable rate limiting.

Parameters:

rampRate

The maximum rate of voltage change in Percent Voltage mode in V/s.

void CANJaguar::StopMotor

(

)

[virtual]

Common interface for stopping the motor Part of the MotorSafety interface

Deprecated:

Call DisableControl instead.

Implements MotorSafety.

void CANJaguar::UpdateSyncGroup

(

UINT8

syncGroup

)

[static]

Update all the motors that have pending sets in the syncGroup.

Parameters:

syncGroup

A bitmask of groups to generate synchronous output.

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The documentation for this class was generated from the following files:

• CANJaguar.h
• CANJaguar.cpp