CANJaguar

java.lang.Object
- edu.wpi.first.wpilibj.CANJaguar

All Implemented Interfaces:

CANSpeedController, LiveWindowSendable, MotorSafety, PIDInterface, PIDOutput, Sendable, SpeedController
```
public class CANJaguar
extends java.lang.Object
implements MotorSafety, PIDOutput, CANSpeedController
```
Texas Instruments Jaguar Speed Controller as a CAN device. $

Nested Class Summary

Nested Classes
Modifier and Type	Class and Description
`static class`	`CANJaguar.JaguarControlMode` Mode determines how the Jaguar is controlled, used internally.
`static class`	`CANJaguar.LimitMode` Determines which sensor to use for position reference.
`static class`	`CANJaguar.NeutralMode` Determines how the Jaguar behaves when sending a zero signal.

Nested classes/interfaces inherited from interface edu.wpi.first.wpilibj.CANSpeedController
CANSpeedController.ControlMode

Field Summary

Fields
Modifier and Type	Field and Description
`static double`	`kApproxBusVoltage`
`static int`	`kBusVoltageFault`
`static int`	`kControllerRate`
`static int`	`kCurrentFault`
`static edu.wpi.first.wpilibj.CANJaguar.EncoderTag`	`kEncoder` Sets an encoder as the speed reference only.
`static int`	`kForwardLimit` Limit switch masks
`static int`	`kGateDriverFault`
`static int`	`kMaxMessageDataSize`
`static edu.wpi.first.wpilibj.CANJaguar.PotentiometerTag`	`kPotentiometer` Sets a potentiometer as the position reference only.
`static edu.wpi.first.wpilibj.CANJaguar.QuadEncoderTag`	`kQuadEncoder` Sets a quadrature encoder as the position and speed reference.
`static int`	`kReverseLimit`
`static int`	`kTemperatureFault`

Fields inherited from interface edu.wpi.first.wpilibj.MotorSafety
DEFAULT_SAFETY_EXPIRATION

Fields inherited from interface edu.wpi.first.wpilibj.CANSpeedController
SMART_DASHBOARD_TYPE

Constructor Summary

Constructors
Constructor and Description

CANJaguar(int deviceNumber)
Constructor for the CANJaguar device.
By default the device is configured in Percent mode.

Constructors
Constructor and Description
`CANJaguar(int deviceNumber)` Constructor for the CANJaguar device. By default the device is configured in Percent mode.

Method Summary

All Methods Static Methods Instance Methods Concrete Methods Deprecated Methods
Modifier and Type	Method and Description
`void`	`configEncoderCodesPerRev(int codesPerRev)` Configure how many codes per revolution are generated by your encoder.
`void`	`configFaultTime(float faultTime)` Configure how long the Jaguar waits in the case of a fault before resuming operation.
`void`	`configForwardLimit(double forwardLimitPosition)` Set the position that, if exceeded, will disable the forward direction.
`void`	`configLimitMode(CANJaguar.LimitMode mode)` Set the limit mode for position control mode. Use `configSoftPositionLimits(double, double)` or `disableSoftPositionLimits()` to set this automatically.
`void`	`configMaxOutputVoltage(double voltage)` Configure the maximum voltage that the Jaguar will ever output.
`void`	`configNeutralMode(CANJaguar.NeutralMode mode)` Configure what the controller does to the H-Bridge when neutral (not driving the output).
`void`	`configPotentiometerTurns(int turns)` Configure the number of turns on the potentiometer.
`void`	`configReverseLimit(double reverseLimitPosition)` Set the position that, if exceeded, will disable the reverse direction.
`void`	`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.
`void`	`disable()` Deprecated. Call `disableControl()` instead.
`void`	`disableControl()` Disable the closed loop controller.
`void`	`disableSoftPositionLimits()` Disable Soft Position Limits if previously enabled. Soft Position Limits are disabled by default.
`void`	`enable()` Allows the control loop to run.
`void`	`enableControl()` Enable the closed loop controller.
`void`	`enableControl(double encoderInitialPosition)` Enable the closed loop controller.
`void`	`free()` Cancel periodic messages to the Jaguar, effectively disabling it.
`boolean`	`FXP16_EQ(double a, double b)`
`boolean`	`FXP8_EQ(double a, double b)`
`double`	`get()` Get the recently set outputValue set point.
`double`	`getBusVoltage()` Get the voltage at the battery input terminals of the Jaguar.
`CANJaguar.JaguarControlMode`	`getControlMode()` Get the active control mode from the Jaguar.
`double`	`getD()` Get the Derivative gain of the controller.
`java.lang.String`	`getDescription()`
`int`	`getDeviceID()`
`double`	`getError()` Get the difference between the setpoint and goal in closed loop modes.
`double`	`getExpiration()`
`short`	`getFaults()` Get the status of any faults the Jaguar has detected.
`int`	`getFirmwareVersion()` Get the version of the firmware running on the Jaguar.
`boolean`	`getForwardLimitOK()` Get the status of the forward limit switch.
`byte`	`getHardwareVersion()` Get the version of the Jaguar hardware.
`double`	`getI()` Get the Integral gain of the controller.
`boolean`	`getInverted()` Common interface for the inverting direction of a speed controller.
`protected void`	`getMessage(int messageID, int messageMask, byte[] data)` Get a previously requested message.
`double`	`getOutputCurrent()` Get the current through the motor terminals of the Jaguar.
`double`	`getOutputVoltage()` Get the voltage being output from the motor terminals of the Jaguar.
`double`	`getP()` Get the Proportional gain of the controller.
`double`	`getPosition()` Get the position of the encoder or potentiometer.
`boolean`	`getReverseLimitOK()` Get the status of the reverse limit switch.
`double`	`getSetpoint()` Equivalent to `get()`.
`double`	`getSpeed()` Get the speed of the encoder.
`ITable`	`getTable()`
`double`	`getTemperature()` Get the internal temperature of the Jaguar.
`void`	`initTable(ITable subtable)` Initializes a table for this sendable object.
`boolean`	`isAlive()`
`boolean`	`isEnabled()` Return whether the controller is enabled.
`boolean`	`isSafetyEnabled()`
`void`	`pidWrite(double output)` Set the output to the value calculated by PIDController $
`protected void`	`requestMessage(int messageID)` Request a message from the Jaguar, but don't wait for it to arrive.
`protected void`	`requestMessage(int messageID, int period)` Request a message from the Jaguar, but don't wait for it to arrive.
`void`	`reset()`
`protected void`	`sendMessage(int messageID, byte[] data, int dataSize)` Send a message to the Jaguar, non-periodically
`protected void`	`sendMessage(int messageID, byte[] data, int dataSize, int period)` Send a message to the Jaguar.
`void`	`set(double value)` Sets the output set-point value.
`void`	`set(double outputValue, byte syncGroup)` Sets the output set-point value.
`void`	`setControlMode(int mode)` Sets the control mode of this speed controller.
`void`	`setCurrentMode(edu.wpi.first.wpilibj.CANJaguar.EncoderTag tag, int codesPerRev, double p, double i, double d)` Enable controlling the motor current with a PID loop, and enable speed sensing from a non-quadrature encoder. After calling this you must call `enableControl()` or `enableControl(double)` to enable the device.
`void`	`setCurrentMode(edu.wpi.first.wpilibj.CANJaguar.PotentiometerTag tag, double p, double i, double d)` Enable controlling the motor current with a PID loop, and enable position sensing from a potentiometer. After calling this you must call `enableControl()` or `enableControl(double)` to enable the device.
`void`	`setCurrentMode(edu.wpi.first.wpilibj.CANJaguar.QuadEncoderTag tag, int codesPerRev, double p, double i, double d)` Enable controlling the motor current with a PID loop, and enable speed and position sensing from a quadrature encoder. After calling this you must call `enableControl()` or `enableControl(double)` to enable the device.
`void`	`setCurrentMode(double p, double i, double d)` Enable controlling the motor current with a PID loop. After calling this you must call `enableControl()` or `enableControl(double)` to enable the device.
`void`	`setD(double d)` Set the D constant for the closed loop modes.
`void`	`setExpiration(double timeout)`
`void`	`setI(double i)` Set the I constant for the closed loop modes.
`void`	`setInverted(boolean isInverted)` Inverts the direction of rotation of the motor Only works in percentVbus, Speed, and Voltage mode $
`void`	`setP(double p)` Set the P constant for the closed loop modes.
`void`	`setPercentMode()` Enable controlling the motor voltage as a percentage of the bus voltage without any position or speed feedback. After calling this you must call `enableControl()` or `enableControl(double)` to enable the device.
`void`	`setPercentMode(edu.wpi.first.wpilibj.CANJaguar.EncoderTag tag, int codesPerRev)` Enable controlling the motor voltage as a percentage of the bus voltage, and enable speed sensing from a non-quadrature encoder. After calling this you must call `enableControl()` or `enableControl(double)` to enable the device.
`void`	`setPercentMode(edu.wpi.first.wpilibj.CANJaguar.PotentiometerTag tag)` Enable controlling the motor voltage as a percentage of the bus voltage, and enable position sensing from a potentiometer and no speed feedback. After calling this you must call `enableControl()` or `enableControl(double)` to enable the device.
`void`	`setPercentMode(edu.wpi.first.wpilibj.CANJaguar.QuadEncoderTag tag, int codesPerRev)` Enable controlling the motor voltage as a percentage of the bus voltage, and enable position and speed sensing from a quadrature encoder. After calling this you must call `enableControl()` or `enableControl(double)` to enable the device.
`void`	`setPID(double p, double i, double d)` Set the P, I, and D constants for the closed loop modes.
`void`	`setPositionMode(edu.wpi.first.wpilibj.CANJaguar.PotentiometerTag tag, double p, double i, double d)` Enable controlling the position with a feedback loop using a potentiometer. After calling this you must call `enableControl()` or `enableControl(double)` to enable the device.
`void`	`setPositionMode(edu.wpi.first.wpilibj.CANJaguar.QuadEncoderTag tag, int codesPerRev, double p, double i, double d)` Enable controlling the position with a feedback loop using an encoder. After calling this you must call `enableControl()` or `enableControl(double)` to enable the device.
`void`	`setSafetyEnabled(boolean enabled)`
`void`	`setSetpoint(double value)` Equivalent to `set(double)`.
`void`	`setSpeedMode(edu.wpi.first.wpilibj.CANJaguar.EncoderTag tag, int codesPerRev, double p, double i, double d)` Enable controlling the speed with a feedback loop from a non-quadrature encoder. After calling this you must call `enableControl()` or `enableControl(double)` to enable the device.
`void`	`setSpeedMode(edu.wpi.first.wpilibj.CANJaguar.QuadEncoderTag tag, int codesPerRev, double p, double i, double d)` Enable controlling the speed with a feedback loop from a quadrature encoder. After calling this you must call `enableControl()` or `enableControl(double)` to enable the device.
`protected void`	`setupPeriodicStatus()` Enables periodic status updates from the Jaguar
`void`	`setVoltageMode()` Enable controlling the motor voltage without any position or speed feedback. After calling this you must call `enableControl()` or `enableControl(double)` to enable the device.
`void`	`setVoltageMode(edu.wpi.first.wpilibj.CANJaguar.EncoderTag tag, int codesPerRev)` Enable controlling the motor voltage with speed feedback from a non-quadrature encoder and no position feedback. After calling this you must call `enableControl()` or `enableControl(double)` to enable the device.
`void`	`setVoltageMode(edu.wpi.first.wpilibj.CANJaguar.PotentiometerTag tag)` Enable controlling the motor voltage with position feedback from a potentiometer and no speed feedback.
`void`	`setVoltageMode(edu.wpi.first.wpilibj.CANJaguar.QuadEncoderTag tag, int codesPerRev)` Enable controlling the motor voltage with position and speed feedback from a quadrature encoder. After calling this you must call `enableControl()` or `enableControl(double)` to enable the device.
`void`	`setVoltageRampRate(double rampRate)` set the maximum voltage change rate.
`void`	`startLiveWindowMode()` Start having this sendable object automatically respond to value changes reflect the value on the table.
`void`	`stopLiveWindowMode()` Stop having this sendable object automatically respond to value changes.
`void`	`stopMotor()` Deprecated. Use disableControl instead.
`protected void`	`updatePeriodicStatus()` Check for new periodic status updates and unpack them into local variables.
`static void`	`updateSyncGroup(byte syncGroup)` Update all the motors that have pending sets in the syncGroup.
`void`	`updateTable()` Update the table for this sendable object with the latest values.
`protected void`	`verify()` Check all unverified params and make sure they're equal to their local cached versions.

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface edu.wpi.first.wpilibj.CANSpeedController
createTableListener, getF, getSmartDashboardType, setF

- Field Detail
  - kMaxMessageDataSize
```
public static final int kMaxMessageDataSize
```
    See Also:
    
    Constant Field Values
  - kControllerRate
```
public static final int kControllerRate
```
    See Also:
    
    Constant Field Values
  - kApproxBusVoltage
```
public static final double kApproxBusVoltage
```
    See Also:
    
    Constant Field Values
  - kEncoder
```
public static final edu.wpi.first.wpilibj.CANJaguar.EncoderTag kEncoder
```
    Sets an encoder as the speed reference only.
    Passed as the "tag" when setting the control mode.
  - kQuadEncoder
```
public static final edu.wpi.first.wpilibj.CANJaguar.QuadEncoderTag kQuadEncoder
```
    Sets a quadrature encoder as the position and speed reference.
    Passed as the "tag" when setting the control mode.
  - kPotentiometer
```
public static final edu.wpi.first.wpilibj.CANJaguar.PotentiometerTag kPotentiometer
```
    Sets a potentiometer as the position reference only.
    Passed as the "tag" when setting the control mode.
  - kCurrentFault
```
public static final int kCurrentFault
```
    See Also:
    
    Constant Field Values
  - kTemperatureFault
```
public static final int kTemperatureFault
```
    See Also:
    
    Constant Field Values
  - kBusVoltageFault
```
public static final int kBusVoltageFault
```
    See Also:
    
    Constant Field Values
  - kGateDriverFault
```
public static final int kGateDriverFault
```
    See Also:
    
    Constant Field Values
  - kForwardLimit
```
public static final int kForwardLimit
```
    Limit switch masks
    
    See Also:
    
    Constant Field Values
  - kReverseLimit
```
public static final int kReverseLimit
```
    See Also:
    
    Constant Field Values
- Constructor Detail
  - CANJaguar
```
public CANJaguar(int deviceNumber)
```
    Constructor for the CANJaguar device.
    By default the device is configured in Percent mode. The control mode can be changed by calling one of the control modes listed below.
    
    Parameters:
    
    deviceNumber - The address of the Jaguar on the CAN bus.
    
    See Also:
    
    setCurrentMode(double, double, double), setCurrentMode(PotentiometerTag, double, double, double), setCurrentMode(EncoderTag, int, double, double, double), setCurrentMode(QuadEncoderTag, int, double, double, double), setPercentMode(), setPercentMode(PotentiometerTag), setPercentMode(EncoderTag, int), setPercentMode(QuadEncoderTag, int), setPositionMode(PotentiometerTag, double, double, double), setPositionMode(QuadEncoderTag, int, double, double, double), setSpeedMode(EncoderTag, int, double, double, double), setSpeedMode(QuadEncoderTag, int, double, double, double), setVoltageMode(), setVoltageMode(PotentiometerTag), setVoltageMode(EncoderTag, int), setVoltageMode(QuadEncoderTag, int)
- Method Detail
  - free
```
public void free()
```
    Cancel periodic messages to the Jaguar, effectively disabling it. No other methods should be called after this is called.
  - get
```
public double get()
```
    Get the recently set outputValue set point. 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.
    
    Specified by:
    
    get in interface SpeedController
    
    Returns:
    
    The most recently set outputValue set point.
  - getSetpoint
```
public double getSetpoint()
```
    Equivalent to get().
    
    Specified by:
    
    getSetpoint in interface PIDInterface
  - getError
```
public double getError()
```
    Get the difference between the setpoint and goal in closed loop modes. Outside of position and velocity modes the return value of getError() has relatively little meaning.
    
    Specified by:
    
    getError in interface PIDInterface
    
    Returns:
    
    The difference between the setpoint and the current position.
  - set
```
public void set(double outputValue,
                byte syncGroup)
```
    Sets 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.
    
    Specified by:
    
    set in interface SpeedController
    
    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.
  - set
```
public void set(double value)
```
    Sets 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.
    
    Specified by:
    
    set in interface SpeedController
    
    Parameters:
    
    value - The set-point to sent to the motor controller.
  - setSetpoint
```
public void setSetpoint(double value)
```
    Equivalent to set(double). Implements PIDInterface.
    
    Specified by:
    
    setSetpoint in interface PIDInterface
  - reset
```
public void reset()
```
    Specified by:
    
    reset in interface PIDInterface
  - setInverted
```
public void setInverted(boolean isInverted)
```
    Inverts the direction of rotation of the motor Only works in percentVbus, Speed, and Voltage mode $
    
    Specified by:
    
    setInverted in interface SpeedController
    
    Parameters:
    
    isInverted - The state of inversion true is inverted
  - getInverted
```
public boolean getInverted()
```
    Common interface for the inverting direction of a speed controller.
    
    Specified by:
    
    getInverted in interface SpeedController
    
    Returns:
    
    isInverted The state of inversion, true is inverted.
  - verify
```
protected void verify()
```
    Check all unverified params and make sure they're equal to their local cached versions. If a value isn't available, it gets requested. If a value doesn't match up, it gets set again.
  - disable
```
@Deprecated
public void disable()
```
    Deprecated. Call disableControl() instead.
    
    Common interface for disabling a motor.
    
    Specified by:
    
    disable in interface PIDInterface
    
    Specified by:
    
    disable in interface SpeedController
  - enable
```
public void enable()
```
    Allows the control loop to run.
    
    Specified by:
    
    enable in interface PIDInterface
  - pidWrite
```
public void pidWrite(double output)
```
    Description copied from interface: PIDOutput
    
    Set the output to the value calculated by PIDController $
    
    Specified by:
    
    pidWrite in interface PIDOutput
    
    Parameters:
    
    output - the value calculated by PIDController
  - setP
```
public void setP(double p)
```
    Set the P constant for the closed loop modes.
    
    Specified by:
    
    setP in interface CANSpeedController
    
    Parameters:
    
    p - The proportional gain of the Jaguar's PID controller.
  - setI
```
public void setI(double i)
```
    Set the I constant for the closed loop modes.
    
    Specified by:
    
    setI in interface CANSpeedController
    
    Parameters:
    
    i - The integral gain of the Jaguar's PID controller.
  - setD
```
public void setD(double d)
```
    Set the D constant for the closed loop modes.
    
    Specified by:
    
    setD in interface CANSpeedController
    
    Parameters:
    
    d - The derivative gain of the Jaguar's PID controller.
  - setPID
```
public void setPID(double p,
                   double i,
                   double d)
```
    Set the P, I, and D constants for the closed loop modes.
    
    Specified by:
    
    setPID in interface PIDInterface
    
    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.
  - getP
```
public double getP()
```
    Get the Proportional gain of the controller.
    
    Specified by:
    
    getP in interface PIDInterface
    
    Returns:
    
    The proportional gain.
  - getI
```
public double getI()
```
    Get the Integral gain of the controller.
    
    Specified by:
    
    getI in interface PIDInterface
    
    Returns:
    
    The integral gain.
  - getD
```
public double getD()
```
    Get the Derivative gain of the controller.
    
    Specified by:
    
    getD in interface PIDInterface
    
    Returns:
    
    The derivative gain.
  - enableControl
```
public void enableControl(double encoderInitialPosition)
```
    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.
  - enableControl
```
public void enableControl()
```
    Enable the closed loop controller. Start actually controlling the output based on the feedback. This is the same as calling CANJaguar.enableControl(double encoderInitialPosition) with encoderInitialPosition set to 0.0
  - isEnabled
```
public boolean isEnabled()
```
    Return whether the controller is enabled.
    
    Specified by:
    
    isEnabled in interface PIDInterface
    
    Returns:
    
    true if enabled.
  - disableControl
```
public void disableControl()
```
    Disable the closed loop controller. Stop driving the output based on the feedback.
  - setPercentMode
```
public void setPercentMode()
```
    Enable controlling the motor voltage as a percentage of the bus voltage without any position or speed feedback.
    After calling this you must call enableControl() or enableControl(double) to enable the device.
  - setPercentMode
```
public void setPercentMode(edu.wpi.first.wpilibj.CANJaguar.EncoderTag tag,
                           int codesPerRev)
```
    Enable controlling the motor voltage as a percentage of the bus voltage, and enable speed sensing from a non-quadrature encoder.
    After calling this you must call enableControl() or enableControl(double) to enable the device.
    
    Parameters:
    
    tag - The constant kEncoder
    
    codesPerRev - The counts per revolution on the encoder
  - setPercentMode
```
public void setPercentMode(edu.wpi.first.wpilibj.CANJaguar.QuadEncoderTag tag,
                           int codesPerRev)
```
    Enable controlling the motor voltage as a percentage of the bus voltage, and enable position and speed sensing from a quadrature encoder.
    After calling this you must call enableControl() or enableControl(double) to enable the device.
    
    Parameters:
    
    tag - The constant kQuadEncoder
    
    codesPerRev - The counts per revolution on the encoder
  - setPercentMode
```
public void setPercentMode(edu.wpi.first.wpilibj.CANJaguar.PotentiometerTag tag)
```
    Enable controlling the motor voltage as a percentage of the bus voltage, and enable position sensing from a potentiometer and no speed feedback.
    After calling this you must call enableControl() or enableControl(double) to enable the device.
    
    Parameters:
    
    tag - The constant kPotentiometer
  - setCurrentMode
```
public void setCurrentMode(double p,
                           double i,
                           double d)
```
    Enable controlling the motor current with a PID loop.
    After calling this you must call enableControl() or enableControl(double) to enable the device.
    
    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.
  - setCurrentMode
```
public void setCurrentMode(edu.wpi.first.wpilibj.CANJaguar.EncoderTag tag,
                           int codesPerRev,
                           double p,
                           double i,
                           double d)
```
    Enable controlling the motor current with a PID loop, and enable speed sensing from a non-quadrature encoder.
    After calling this you must call enableControl() or enableControl(double) to enable the device.
    
    Parameters:
    
    tag - The constant kEncoder
    
    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.
  - setCurrentMode
```
public void setCurrentMode(edu.wpi.first.wpilibj.CANJaguar.QuadEncoderTag tag,
                           int codesPerRev,
                           double p,
                           double i,
                           double d)
```
    Enable controlling the motor current with a PID loop, and enable speed and position sensing from a quadrature encoder.
    After calling this you must call enableControl() or enableControl(double) to enable the device.
    
    Parameters:
    
    tag - The constant kQuadEncoder
    
    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.
  - setCurrentMode
```
public void setCurrentMode(edu.wpi.first.wpilibj.CANJaguar.PotentiometerTag tag,
                           double p,
                           double i,
                           double d)
```
    Enable controlling the motor current with a PID loop, and enable position sensing from a potentiometer.
    After calling this you must call enableControl() or enableControl(double) to enable the device.
    
    Parameters:
    
    tag - The constant kPotentiometer
    
    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.
  - setSpeedMode
```
public void setSpeedMode(edu.wpi.first.wpilibj.CANJaguar.EncoderTag tag,
                         int codesPerRev,
                         double p,
                         double i,
                         double d)
```
    Enable controlling the speed with a feedback loop from a non-quadrature encoder.
    After calling this you must call enableControl() or enableControl(double) to enable the device.
    
    Parameters:
    
    tag - The constant kEncoder
    
    codesPerRev - The counts per revolution on the encoder
    
    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.
  - setSpeedMode
```
public void setSpeedMode(edu.wpi.first.wpilibj.CANJaguar.QuadEncoderTag tag,
                         int codesPerRev,
                         double p,
                         double i,
                         double d)
```
    Enable controlling the speed with a feedback loop from a quadrature encoder.
    After calling this you must call enableControl() or enableControl(double) to enable the device.
    
    Parameters:
    
    tag - The constant kQuadEncoder
    
    codesPerRev - The counts per revolution on the encoder
    
    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.
  - setPositionMode
```
public void setPositionMode(edu.wpi.first.wpilibj.CANJaguar.QuadEncoderTag tag,
                            int codesPerRev,
                            double p,
                            double i,
                            double d)
```
    Enable controlling the position with a feedback loop using an encoder.
    After calling this you must call enableControl() or enableControl(double) to enable the device.
    
    Parameters:
    
    tag - The constant kQuadEncoder
    
    codesPerRev - The counts per revolution on the encoder
    
    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.
  - setPositionMode
```
public void setPositionMode(edu.wpi.first.wpilibj.CANJaguar.PotentiometerTag tag,
                            double p,
                            double i,
                            double d)
```
    Enable controlling the position with a feedback loop using a potentiometer.
    After calling this you must call enableControl() or enableControl(double) to enable the device.
    
    Parameters:
    
    tag - The constant kPotentiometer
    
    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.
  - setVoltageMode
```
public void setVoltageMode()
```
    Enable controlling the motor voltage without any position or speed feedback.
    After calling this you must call enableControl() or enableControl(double) to enable the device.
  - setVoltageMode
```
public void setVoltageMode(edu.wpi.first.wpilibj.CANJaguar.EncoderTag tag,
                           int codesPerRev)
```
    Enable controlling the motor voltage with speed feedback from a non-quadrature encoder and no position feedback.
    After calling this you must call enableControl() or enableControl(double) to enable the device.
    
    Parameters:
    
    tag - The constant kEncoder
    
    codesPerRev - The counts per revolution on the encoder
  - setVoltageMode
```
public void setVoltageMode(edu.wpi.first.wpilibj.CANJaguar.QuadEncoderTag tag,
                           int codesPerRev)
```
    Enable controlling the motor voltage with position and speed feedback from a quadrature encoder.
    After calling this you must call enableControl() or enableControl(double) to enable the device.
    
    Parameters:
    
    tag - The constant kQuadEncoder
    
    codesPerRev - The counts per revolution on the encoder
  - setVoltageMode
```
public void setVoltageMode(edu.wpi.first.wpilibj.CANJaguar.PotentiometerTag tag)
```
    Enable controlling the motor voltage with position feedback from a potentiometer and no speed feedback.
    
    Parameters:
    
    tag - The constant kPotentiometer
  - getControlMode
```
public CANJaguar.JaguarControlMode getControlMode()
```
    Get the active control mode from the Jaguar. Ask the Jagaur what mode it is in.
    
    Specified by:
    
    getControlMode in interface CANSpeedController
    
    Returns:
    
    JaguarControlMode that the Jag is in.
  - setControlMode
```
public void setControlMode(int mode)
```
    Description copied from interface: CANSpeedController
    
    Sets the control mode of this speed controller.
    
    Specified by:
    
    setControlMode in interface CANSpeedController
    
    Parameters:
    
    mode - the the new mode
  - getBusVoltage
```
public double getBusVoltage()
```
    Get the voltage at the battery input terminals of the Jaguar.
    
    Specified by:
    
    getBusVoltage in interface CANSpeedController
    
    Returns:
    
    The bus voltage in Volts.
  - getOutputVoltage
```
public double getOutputVoltage()
```
    Get the voltage being output from the motor terminals of the Jaguar.
    
    Specified by:
    
    getOutputVoltage in interface CANSpeedController
    
    Returns:
    
    The output voltage in Volts.
  - getOutputCurrent
```
public double getOutputCurrent()
```
    Get the current through the motor terminals of the Jaguar.
    
    Specified by:
    
    getOutputCurrent in interface CANSpeedController
    
    Returns:
    
    The output current in Amps.
  - getTemperature
```
public double getTemperature()
```
    Get the internal temperature of the Jaguar.
    
    Specified by:
    
    getTemperature in interface CANSpeedController
    
    Returns:
    
    The temperature of the Jaguar in degrees Celsius.
  - getPosition
```
public double getPosition()
```
    Get the position of the encoder or potentiometer.
    
    Specified by:
    
    getPosition in interface CANSpeedController
    
    Returns:
    
    The position of the motor in rotations based on the configured feedback.
    
    See Also:
    
    configPotentiometerTurns(int), configEncoderCodesPerRev(int)
  - getSpeed
```
public double getSpeed()
```
    Get the speed of the encoder.
    
    Specified by:
    
    getSpeed in interface CANSpeedController
    
    Returns:
    
    The speed of the motor in RPM based on the configured feedback.
  - getForwardLimitOK
```
public boolean getForwardLimitOK()
```
    Get the status of the forward limit switch.
    
    Returns:
    
    true if the motor is allowed to turn in the forward direction.
  - getReverseLimitOK
```
public boolean getReverseLimitOK()
```
    Get the status of the reverse limit switch.
    
    Returns:
    
    true if the motor is allowed to turn in the reverse direction.
  - getFaults
```
public short getFaults()
```
    Get the status of any faults the Jaguar has detected.
    
    Returns:
    
    A bit-mask of faults defined by the "Faults" constants.
    
    See Also:
    
    kCurrentFault, kBusVoltageFault, kTemperatureFault, kGateDriverFault
  - setVoltageRampRate
```
public void 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.
    
    Specified by:
    
    setVoltageRampRate in interface CANSpeedController
    
    Parameters:
    
    rampRate - The maximum rate of voltage change in Percent Voltage mode in V/s.
  - getFirmwareVersion
```
public int getFirmwareVersion()
```
    Get the version of the firmware running on the Jaguar.
    
    Returns:
    
    The firmware version. 0 if the device did not respond.
  - getHardwareVersion
```
public byte getHardwareVersion()
```
    Get the version of the Jaguar hardware.
    
    Returns:
    
    The hardware version. 1: Jaguar, 2: Black Jaguar
  - configNeutralMode
```
public void configNeutralMode(CANJaguar.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.
  - configEncoderCodesPerRev
```
public void configEncoderCodesPerRev(int codesPerRev)
```
    Configure how many codes per revolution are generated by your encoder.
    
    Parameters:
    
    codesPerRev - The number of counts per revolution in 1X mode.
  - configPotentiometerTurns
```
public void configPotentiometerTurns(int 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
  - configSoftPositionLimits
```
public void 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.
  - disableSoftPositionLimits
```
public void disableSoftPositionLimits()
```
    Disable Soft Position Limits if previously enabled.
    Soft Position Limits are disabled by default.
  - configLimitMode
```
public void configLimitMode(CANJaguar.LimitMode mode)
```
    Set the limit mode for position control mode.
    Use configSoftPositionLimits(double, double) or disableSoftPositionLimits() to set this automatically. $
    
    Parameters:
    
    mode - The CANJaguar.LimitMode to use to limit the rotation of the device.
    
    See Also:
    
    CANJaguar.LimitMode.SwitchInputsOnly, CANJaguar.LimitMode.SoftPositionLimits
  - configForwardLimit
```
public void configForwardLimit(double forwardLimitPosition)
```
    Set the position that, if exceeded, will disable the forward direction. Use configSoftPositionLimits(double, double) to set this and the CANJaguar.LimitMode automatically. $
    
    Parameters:
    
    forwardLimitPosition - The position that, if exceeded, will disable the forward direction.
  - configReverseLimit
```
public void configReverseLimit(double reverseLimitPosition)
```
    Set the position that, if exceeded, will disable the reverse direction. Use configSoftPositionLimits(double, double) to set this and the CANJaguar.LimitMode automatically. $
    
    Parameters:
    
    reverseLimitPosition - The position that, if exceeded, will disable the reverse direction.
  - configMaxOutputVoltage
```
public void 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.
  - configFaultTime
```
public void 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.
  - sendMessage
```
protected void sendMessage(int messageID,
                           byte[] data,
                           int dataSize,
                           int period)
```
    Send a message to the Jaguar.
    
    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
    
    period - If positive, tell Network Communications to send the message every "period" milliseconds.
  - sendMessage
```
protected void sendMessage(int messageID,
                           byte[] data,
                           int dataSize)
```
    Send a message to the Jaguar, non-periodically
    
    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
  - requestMessage
```
protected void requestMessage(int messageID,
                              int period)
```
    Request a message from the Jaguar, but don't wait for it to arrive.
    
    Parameters:
    
    messageID - The message to request
    
    period - If positive, tell Network Communications to request the message every "period" milliseconds.
  - requestMessage
```
protected void requestMessage(int messageID)
```
    Request a message from the Jaguar, but don't wait for it to arrive.
    
    Parameters:
    
    messageID - The message to request
  - getMessage
```
protected void getMessage(int messageID,
                          int messageMask,
                          byte[] data)
                   throws CANMessageNotFoundException
```
    Get a previously requested message. 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
    
    Throws:
    
    CANMessageNotFoundException - if there's not new message available
  - setupPeriodicStatus
```
protected void setupPeriodicStatus()
```
    Enables periodic status updates from the Jaguar
  - updatePeriodicStatus
```
protected void updatePeriodicStatus()
```
    Check for new periodic status updates and unpack them into local variables.
  - updateSyncGroup
```
public static void updateSyncGroup(byte syncGroup)
```
    Update all the motors that have pending sets in the syncGroup.
    
    Parameters:
    
    syncGroup - A bitmask of groups to generate synchronous output.
  - FXP8_EQ
```
public boolean FXP8_EQ(double a,
                       double b)
```
  - FXP16_EQ
```
public boolean FXP16_EQ(double a,
                        double b)
```
  - setExpiration
```
public void setExpiration(double timeout)
```
    Specified by:
    
    setExpiration in interface MotorSafety
  - getExpiration
```
public double getExpiration()
```
    Specified by:
    
    getExpiration in interface MotorSafety
  - isAlive
```
public boolean isAlive()
```
    Specified by:
    
    isAlive in interface MotorSafety
  - isSafetyEnabled
```
public boolean isSafetyEnabled()
```
    Specified by:
    
    isSafetyEnabled in interface MotorSafety
  - setSafetyEnabled
```
public void setSafetyEnabled(boolean enabled)
```
    Specified by:
    
    setSafetyEnabled in interface MotorSafety
  - getDescription
```
public java.lang.String getDescription()
```
    Specified by:
    
    getDescription in interface MotorSafety
  - getDeviceID
```
public int getDeviceID()
```
  - stopMotor
```
@Deprecated
public void stopMotor()
```
    Deprecated. Use disableControl instead.
    
    Common interface for stopping a motor.
    
    Specified by:
    
    stopMotor in interface MotorSafety
  - initTable
```
public void initTable(ITable subtable)
```
    Initializes a table for this sendable object. $
    
    Specified by:
    
    initTable in interface Sendable
    
    Parameters:
    
    subtable - The table to put the values in.
  - updateTable
```
public void updateTable()
```
    Update the table for this sendable object with the latest values.
    
    Specified by:
    
    updateTable in interface CANSpeedController
    
    Specified by:
    
    updateTable in interface LiveWindowSendable
  - getTable
```
public ITable getTable()
```
    Specified by:
    
    getTable in interface Sendable
    
    Returns:
    
    the table that is currently associated with the sendable
  - startLiveWindowMode
```
public void startLiveWindowMode()
```
    Start having this sendable object automatically respond to value changes reflect the value on the table.
    
    Specified by:
    
    startLiveWindowMode in interface LiveWindowSendable
  - stopLiveWindowMode
```
public void stopLiveWindowMode()
```
    Stop having this sendable object automatically respond to value changes.
    
    Specified by:
    
    stopLiveWindowMode in interface LiveWindowSendable

Class CANJaguar

Nested Class Summary

Nested classes/interfaces inherited from interface edu.wpi.first.wpilibj.CANSpeedController

Field Summary

Fields inherited from interface edu.wpi.first.wpilibj.MotorSafety

Fields inherited from interface edu.wpi.first.wpilibj.CANSpeedController

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Methods inherited from interface edu.wpi.first.wpilibj.CANSpeedController

Field Detail

kMaxMessageDataSize

kControllerRate

kApproxBusVoltage

kEncoder

kQuadEncoder

kPotentiometer

kCurrentFault

kTemperatureFault

kBusVoltageFault

kGateDriverFault

kForwardLimit

kReverseLimit

Constructor Detail

CANJaguar

Method Detail

free

get

getSetpoint

getError

set

set

setSetpoint

reset

setInverted

getInverted

verify

disable

enable

pidWrite

setP

setI

setD

setPID

getP

getI

getD

enableControl

enableControl

isEnabled

disableControl

setPercentMode

setPercentMode

setPercentMode

setPercentMode

setCurrentMode

setCurrentMode

setCurrentMode

setCurrentMode

setSpeedMode

setSpeedMode

setPositionMode

setPositionMode

setVoltageMode

setVoltageMode

setVoltageMode

setVoltageMode

getControlMode

setControlMode

getBusVoltage

getOutputVoltage

getOutputCurrent

getTemperature

getPosition

getSpeed

getForwardLimitOK

getReverseLimitOK

getFaults

setVoltageRampRate

getFirmwareVersion