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RobotPy WPILib Documentation, Release master
CANJaguar.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.
Returns The most recently set outputValue set point.
CANJaguar.getBusVoltage()
Get the voltage at the battery input terminals of the Jaguar.
Returns The bus voltage in Volts.
CANJaguar.getControlMode()
Get the active control mode from the Jaguar.
Ask the Jagaur what mode it is in.
Return ControlMode that the Jag is in.
CANJaguar.getD()
Get the Derivative gain of the controller.
Returns The derivative gain.
CANJaguar.getDescription()
CANJaguar.getDeviceID()
CANJaguar.getDeviceNumber()
Returns The CAN ID passed in the constructor
CANJaguar.getFaults()
Get the status of any faults the Jaguar has detected.
Returns
A bit-mask of faults defined by the “Faults” constants.
• kCurrentFault
• kBusVoltageFault
• kTemperatureFault
• GateDriverFault
CANJaguar.getFirmwareVersion()
Get the version of the firmware running on the Jaguar.
Returns The firmware version. 0 if the device did not respond.
CANJaguar.getForwardLimitOK()
Get the status of the forward limit switch.
Returns True if the motor is allowed to turn in the forward direction.
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Chapter 1. Contents