CANJaguar (RoboLibJ

java.lang.Object
- io.github.robolib.module.actuator.CANJaguar

All Implemented Interfaces:

LiveWindowSendable, PIDSink, RateSource, Sendable, SpeedSink, SpeedSource, UpdatingSendable, ActuatorModule, ControllerModule, SpeedController, Module, MotorSafety
```
public final class CANJaguar
extends java.lang.Object
implements ActuatorModule, ControllerModule, SpeedController, MotorSafety, RateSource, LiveWindowSendable
```
Texas Instruments Jaguar Speed Controller as a CAN device.

Author:

Thomas Clark

Nested Class Summary

Nested Classes
Modifier and Type	Class and Description
`static class`	`CANJaguar.ControlMode` Mode determines how the Jaguar is controlled, used internally.
`private static class`	`CANJaguar.EncoderTag`
`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.
`private static class`	`CANJaguar.PotentiometerTag`
`private static class`	`CANJaguar.QuadEncoderTag`

Field Summary

Fields
Modifier and Type	Field and Description
`static double`	`kApproxBusVoltage`
`static int`	`kBusVoltageFault`
`static int`	`kControllerRate`
`static int`	`kCurrentFault`
`static CANJaguar.EncoderTag`	`kEncoder` Sets an encoder as the speed reference only.
`static int`	`kForwardLimit` Limit switch masks
`private static int`	`kFullMessageIDMask`
`static int`	`kGateDriverFault`
`static int`	`kMaxMessageDataSize`
`static CANJaguar.PotentiometerTag`	`kPotentiometer` Sets a potentiometer as the position reference only.
`static CANJaguar.QuadEncoderTag`	`kQuadEncoder` Sets a quadrature encoder as the position and speed reference.
`(package private) static int`	`kReceiveStatusAttempts`
`static int`	`kReverseLimit`
`private static int`	`kSendMessagePeriod`
`static int`	`kTemperatureFault`
`private static java.util.BitSet`	`m_allocated`
`private double`	`m_busVoltage`
`(package private) boolean`	`m_controlEnabled`
`private CANJaguar.ControlMode`	`m_controlMode`
`private boolean`	`m_controlModeVerified`
`private double`	`m_d`
`private java.lang.String`	`m_description`
`private byte`	`m_deviceNumber`
`private boolean`	`m_dVerified`
`private short`	`m_encoderCodesPerRev`
`private boolean`	`m_encoderCodesPerRevVerified`
`private short`	`m_faults`
`private float`	`m_faultTime`
`private boolean`	`m_faultTimeVerified`
`private int`	`m_firmwareVersion`
`private double`	`m_forwardLimit`
`private boolean`	`m_forwardLimitVerified`
`private byte`	`m_hardwareVersion`
`private double`	`m_i`
`private boolean`	`m_inverted`
`private boolean`	`m_iVerified`
`private CANJaguar.LimitMode`	`m_limitMode`
`private boolean`	`m_limitModeVerified`
`private byte`	`m_limits`
`private ITableListener`	`m_listener`
`private double`	`m_maxOutputVoltage`
`private boolean`	`m_maxOutputVoltageVerified`
`private CANJaguar.NeutralMode`	`m_neutralMode`
`private boolean`	`m_neutralModeVerified`
`private double`	`m_outputCurrent`
`private double`	`m_outputVoltage`
`private double`	`m_p`
`private double`	`m_position`
`private int`	`m_positionReference`
`private boolean`	`m_posRefVerified`
`private short`	`m_potentiometerTurns`
`private boolean`	`m_potentiometerTurnsVerified`
`private boolean`	`m_pVerified`
`private boolean`	`m_receivedStatusMessage0`
`private boolean`	`m_receivedStatusMessage1`
`private boolean`	`m_receivedStatusMessage2`
`private double`	`m_reverseLimit`
`private boolean`	`m_reverseLimitVerified`
`private MotorSafetyHelper`	`m_safetyHelper`
`private double`	`m_speed`
`private int`	`m_speedReference`
`private boolean`	`m_speedRefVerified`
`private ITable`	`m_table`
`private double`	`m_temperature`
`private double`	`m_value`
`private double`	`m_voltageRampRate`
`private boolean`	`m_voltageRampRateVerified`

Fields inherited from interface io.github.robolib.module.MotorSafety
SAFETY_TIMEOUT_DEFAULT, SAFETY_TIMEOUT_LOOSE, SAFETY_TIMEOUT_STRICT

Constructor Summary

Constructors
Constructor and Description
`CANJaguar(int deviceNumber)` Constructor for the CANJaguar device. By default the device is configured in Percent mode.
`CANJaguar(int deviceNumber, java.lang.String desc)` Constructor for the CANJaguar device. By default the device is configured in Percent mode.
`CANJaguar(int deviceNumber, java.lang.String desc, PDP.PowerChannel pwChannel)` 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
`private void`	`changeControlMode(CANJaguar.ControlMode controlMode)` Used internally.
`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`	`disableModule()` Disable the module
`void`	`disableSoftPositionLimits()` Disable Soft Position Limits if previously enabled. Soft Position Limits are disabled by default.
`void`	`enableControl()` Enable the closed loop controller.
`void`	`enableControl(double encoderInitialPosition)` Enable the closed loop controller.
`void`	`enableModule()` Enable the module
`void`	`free()` Cancel periodic messages to the Jaguar, effectively disabling it.
`boolean`	`FXP16_EQ(double a, double b)` Compare floats for equality as fixed point numbers
`boolean`	`FXP8_EQ(double a, double b)` Compare floats for equality as fixed point numbers
`double`	`get()` Get the recently set outputValue set point.
`double`	`getBusVoltage()` Get the voltage at the battery input terminals of the Jaguar.
`CANJaguar.ControlMode`	`getControlMode()` Get the active control mode from the Jaguar.
`double`	`getD()` Get the Derivative gain of the controller.
`java.lang.String`	`getDescription()` Gets the description.
`int`	`getDeviceID()`
`(package private) int`	`getDeviceNumber()`
`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.
`protected void`	`getMessage(int messageID, int messageMask, byte[] data)` Get a previously requested message.
`boolean`	`getModuleEnabled()`
`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.
`double`	`getRate()` Get the speed of the encoder in RPM.
`boolean`	`getReverseLimitOK()` Get the status of the reverse limit switch.
`MotorSafetyHelper`	`getSafetyHelper()` Return the MotorSafetyHelper object for this MotorSafety Object
`java.lang.String`	`getSmartDashboardType()`
`double`	`getSpeed()` Common interface for getting the current set speed of a speed controller.
`ITable`	`getTable()`
`double`	`getTemperature()` Get the internal temperature of the Jaguar.
`void`	`initTable(ITable subtable)`
`void`	`makeSafe()` Make this actuator safe.
`private static byte`	`packFXP16_16(byte[] buffer, double value)`
`private static byte`	`packFXP8_8(byte[] buffer, double value)`
`private static byte`	`packINT16(byte[] buffer, short value)`
`private static byte`	`packPercentage(byte[] buffer, double value)`
`void`	`pidWrite(double output)`
`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.
`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.
`(package private) static void`	`sendMessageHelper(int messageID, byte[] data, int dataSize, int period)`
`void`	`set(double value)` Sets the output set-point value.
`void`	`set(double outputValue, byte syncGroup)` Sets the output set-point value.
`void`	`setCurrentMode(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(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(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`	`setI(double i)` Set the I constant for the closed loop modes.
`void`	`setInverted(boolean inverted)` Set the inverted state of the speed controller.
`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(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(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(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(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(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.
`private void`	`setPositionReference(int reference)` Set the reference source device for position controller mode.
`void`	`setSpeed(double speed)` Set the speed of the SpeedController
`void`	`setSpeedMode(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(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.
`private void`	`setSpeedReference(int reference)` Set the reference source device for speed controller mode.
`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(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(CANJaguar.PotentiometerTag tag)` Enable controlling the motor voltage with position feedback from a potentiometer and no speed feedback.
`void`	`setVoltageMode(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()`
`void`	`stopLiveWindowMode()`
`void`	`stopMotor()` Stop/Disable the motor.
`private static void`	`swap16(int x, byte[] buffer)` we are on ARM-LE now, not Freescale so no need to swap
`private static void`	`swap32(int x, byte[] buffer)`
`private static short`	`unpack16(byte[] buffer, int offset)` Unpack 16-bit data from a buffer in little-endian byte order
`private static int`	`unpack32(byte[] buffer, int offset)` Unpack 32-bit data from a buffer in little-endian byte order
`private static double`	`unpackFXP16_16(byte[] buffer)`
`private static double`	`unpackFXP8_8(byte[] buffer)`
`private static short`	`unpackINT16(byte[] buffer)`
`private static int`	`unpackINT32(byte[] buffer)`
`private static double`	`unpackPercentage(byte[] buffer)`
`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()`
`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 io.github.robolib.identifier.SpeedSink
bindSpeed, bindSpeed

Methods inherited from interface io.github.robolib.module.MotorSafety
feed, getSafetyExpiration, isAlive, isSafetyEnabled, setSafetyEnabled, setSafetyExpiration

- 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
  - m_safetyHelper
```
private MotorSafetyHelper m_safetyHelper
```
  - kFullMessageIDMask
```
private static final int kFullMessageIDMask
```
    See Also:
    
    Constant Field Values
  - kSendMessagePeriod
```
private static final int kSendMessagePeriod
```
    See Also:
    
    Constant Field Values
  - m_allocated
```
private static java.util.BitSet m_allocated
```
  - kEncoder
```
public static final CANJaguar.EncoderTag kEncoder
```
    Sets an encoder as the speed reference only.
    Passed as the "tag" when setting the control mode.
  - kQuadEncoder
```
public static final 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 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
  - m_deviceNumber
```
private byte m_deviceNumber
```
  - m_value
```
private double m_value
```
  - m_controlMode
```
private CANJaguar.ControlMode m_controlMode
```
  - m_speedReference
```
private int m_speedReference
```
  - m_positionReference
```
private int m_positionReference
```
  - m_p
```
private double m_p
```
  - m_i
```
private double m_i
```
  - m_d
```
private double m_d
```
  - m_neutralMode
```
private CANJaguar.NeutralMode m_neutralMode
```
  - m_encoderCodesPerRev
```
private short m_encoderCodesPerRev
```
  - m_potentiometerTurns
```
private short m_potentiometerTurns
```
  - m_limitMode
```
private CANJaguar.LimitMode m_limitMode
```
  - m_forwardLimit
```
private double m_forwardLimit
```
  - m_reverseLimit
```
private double m_reverseLimit
```
  - m_maxOutputVoltage
```
private double m_maxOutputVoltage
```
  - m_voltageRampRate
```
private double m_voltageRampRate
```
  - m_faultTime
```
private float m_faultTime
```
  - m_description
```
private java.lang.String m_description
```
  - m_controlModeVerified
```
private boolean m_controlModeVerified
```
  - m_speedRefVerified
```
private boolean m_speedRefVerified
```
  - m_posRefVerified
```
private boolean m_posRefVerified
```
  - m_pVerified
```
private boolean m_pVerified
```
  - m_iVerified
```
private boolean m_iVerified
```
  - m_dVerified
```
private boolean m_dVerified
```
  - m_neutralModeVerified
```
private boolean m_neutralModeVerified
```
  - m_encoderCodesPerRevVerified
```
private boolean m_encoderCodesPerRevVerified
```
  - m_potentiometerTurnsVerified
```
private boolean m_potentiometerTurnsVerified
```
  - m_forwardLimitVerified
```
private boolean m_forwardLimitVerified
```
  - m_reverseLimitVerified
```
private boolean m_reverseLimitVerified
```
  - m_limitModeVerified
```
private boolean m_limitModeVerified
```
  - m_maxOutputVoltageVerified
```
private boolean m_maxOutputVoltageVerified
```
  - m_voltageRampRateVerified
```
private boolean m_voltageRampRateVerified
```
  - m_faultTimeVerified
```
private boolean m_faultTimeVerified
```
  - m_busVoltage
```
private double m_busVoltage
```
  - m_outputVoltage
```
private double m_outputVoltage
```
  - m_outputCurrent
```
private double m_outputCurrent
```
  - m_temperature
```
private double m_temperature
```
  - m_position
```
private double m_position
```
  - m_speed
```
private double m_speed
```
  - m_limits
```
private byte m_limits
```
  - m_faults
```
private short m_faults
```
  - m_firmwareVersion
```
private int m_firmwareVersion
```
  - m_hardwareVersion
```
private byte m_hardwareVersion
```
  - m_inverted
```
private boolean m_inverted
```
  - m_receivedStatusMessage0
```
private boolean m_receivedStatusMessage0
```
  - m_receivedStatusMessage1
```
private boolean m_receivedStatusMessage1
```
  - m_receivedStatusMessage2
```
private boolean m_receivedStatusMessage2
```
  - m_table
```
private ITable m_table
```
  - m_listener
```
private ITableListener m_listener
```
  - kReceiveStatusAttempts
```
static final int kReceiveStatusAttempts
```
    See Also:
    
    Constant Field Values
  - m_controlEnabled
```
boolean m_controlEnabled
```
- 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)
  - CANJaguar
```
public CANJaguar(int deviceNumber,
                 java.lang.String desc)
```
    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.
    
    desc - The description of this CANJaguar
    
    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)
  - CANJaguar
```
public CANJaguar(int deviceNumber,
                 java.lang.String desc,
                 PDP.PowerChannel pwChannel)
```
    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.
    
    desc - The description of this CANJaguar
    
    pwChannel - the PowerChannel this is running on.
    
    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.
  - getDeviceNumber
```
int getDeviceNumber()
```
    Returns:
    
    The CAN ID passed in the constructor
  - 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.
    
    Returns:
    
    The most recently set outputValue set point.
  - getSpeed
```
public double getSpeed()
```
    Common interface for getting the current set speed of a speed controller. 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:
    
    getSpeed in interface SpeedSource
    
    Specified by:
    
    getSpeed in interface SpeedController
    
    Returns:
    
    The most recently set outputValue set point.
  - 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.
    
    Parameters:
    
    value - The set-point to sent to the motor controller.
  - setSpeed
```
public void setSpeed(double speed)
```
    Set the speed of the SpeedController 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:
    
    setSpeed in interface SpeedSink
    
    Specified by:
    
    setSpeed in interface SpeedController
    
    Parameters:
    
    value - The set-point to sent to the motor controller.
  - setInverted
```
public void setInverted(boolean inverted)
```
    Set the inverted state of the speed controller.
    
    Specified by:
    
    setInverted in interface SpeedController
    
    Parameters:
    
    inverted - true to invert the values sent to the motor.
  - 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.
  - pidWrite
```
public void pidWrite(double output)
```
    Specified by:
    
    pidWrite in interface PIDSink
    
    Specified by:
    
    pidWrite in interface SpeedController
  - setSpeedReference
```
private void setSpeedReference(int 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 speed reference.
  - setPositionReference
```
private void setPositionReference(int 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 position reference.
  - setP
```
public void setP(double p)
```
    Set the P constant for the closed loop modes.
    
    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.
    
    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.
    
    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.
    
    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.
    
    Returns:
    
    The proportional gain.
  - getI
```
public double getI()
```
    Get the Integral gain of the controller.
    
    Returns:
    
    The integral gain.
  - getD
```
public double getD()
```
    Get the Derivative gain of the controller.
    
    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
  - 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(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(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(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(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(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(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(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(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(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(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(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(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(CANJaguar.PotentiometerTag tag)
```
    Enable controlling the motor voltage with position feedback from a potentiometer and no speed feedback.
    
    Parameters:
    
    tag - The constant kPotentiometer
  - changeControlMode
```
private void changeControlMode(CANJaguar.ControlMode controlMode)
```
    Used internally. In order to set the control mode see the methods listed below. 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.
    
    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)
  - getControlMode
```
public CANJaguar.ControlMode getControlMode()
```
    Get the active control mode from the Jaguar. Ask the Jagaur what mode it is in.
    
    Returns:
    
    ControlMode that the Jag is in.
  - getBusVoltage
```
public double getBusVoltage()
```
    Get the voltage at the battery input terminals of the Jaguar.
    
    Returns:
    
    The bus voltage in Volts.
  - getOutputVoltage
```
public double getOutputVoltage()
```
    Get the voltage being output from the motor terminals of the Jaguar.
    
    Returns:
    
    The output voltage in Volts.
  - getOutputCurrent
```
public double getOutputCurrent()
```
    Get the current through the motor terminals of the Jaguar.
    
    Returns:
    
    The output current in Amps.
  - getTemperature
```
public double getTemperature()
```
    Get the internal temperature of the Jaguar.
    
    Returns:
    
    The temperature of the Jaguar in degrees Celsius.
  - getPosition
```
public double getPosition()
```
    Get the position of the encoder or potentiometer.
    
    Returns:
    
    The position of the motor in rotations based on the configured feedback.
    
    See Also:
    
    configPotentiometerTurns(int), configEncoderCodesPerRev(int)
  - getRate
```
public double getRate()
```
    Get the speed of the encoder in RPM.
    
    Specified by:
    
    getRate in interface RateSource
    
    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.
    
    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.
  - sendMessageHelper
```
static void sendMessageHelper(int messageID,
                              byte[] data,
                              int dataSize,
                              int period)
                       throws CANMessageNotFoundException
```
    Throws:
    
    CANMessageNotFoundException
  - 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.
  - swap16
```
private static final void swap16(int x,
                                 byte[] buffer)
```
    we are on ARM-LE now, not Freescale so no need to swap
  - swap32
```
private static final void swap32(int x,
                                 byte[] buffer)
```
  - packPercentage
```
private static final byte packPercentage(byte[] buffer,
                                         double value)
```
  - packFXP8_8
```
private static final byte packFXP8_8(byte[] buffer,
                                     double value)
```
  - packFXP16_16
```
private static final byte packFXP16_16(byte[] buffer,
                                       double value)
```
  - packINT16
```
private static final byte packINT16(byte[] buffer,
                                    short value)
```
  - unpack16
```
private static final short unpack16(byte[] buffer,
                                    int offset)
```
    Unpack 16-bit data from a buffer in little-endian byte order
    
    Parameters:
    
    buffer - The buffer to unpack from
    
    offset - The offset into he buffer to unpack
    
    Returns:
    
    The data that was unpacked
  - unpack32
```
private static final int unpack32(byte[] buffer,
                                  int offset)
```
    Unpack 32-bit data from a buffer in little-endian byte order
    
    Parameters:
    
    buffer - The buffer to unpack from
    
    offset - The offset into he buffer to unpack
    
    Returns:
    
    The data that was unpacked
  - unpackPercentage
```
private static final double unpackPercentage(byte[] buffer)
```
  - unpackFXP8_8
```
private static final double unpackFXP8_8(byte[] buffer)
```
  - unpackFXP16_16
```
private static final double unpackFXP16_16(byte[] buffer)
```
  - unpackINT16
```
private static final short unpackINT16(byte[] buffer)
```
  - unpackINT32
```
private static final int unpackINT32(byte[] buffer)
```
  - FXP8_EQ
```
public boolean FXP8_EQ(double a,
                       double b)
```
    Compare floats for equality as fixed point numbers
  - FXP16_EQ
```
public boolean FXP16_EQ(double a,
                        double b)
```
    Compare floats for equality as fixed point numbers
  - getSafetyHelper
```
public MotorSafetyHelper getSafetyHelper()
```
    Description copied from interface: MotorSafety
    
    Return the MotorSafetyHelper object for this MotorSafety Object
    
    Specified by:
    
    getSafetyHelper in interface MotorSafety
    
    Returns:
    
    the motor safety helper
  - getDescription
```
public java.lang.String getDescription()
```
    Description copied from interface: MotorSafety
    
    Gets the description.
    
    Specified by:
    
    getDescription in interface MotorSafety
    
    Returns:
    
    the description
  - getDeviceID
```
public int getDeviceID()
```
  - stopMotor
```
public void stopMotor()
```
    Stop/Disable the motor.
    
    Specified by:
    
    stopMotor in interface SpeedController
    
    Specified by:
    
    stopMotor in interface MotorSafety
  - getSmartDashboardType
```
public java.lang.String getSmartDashboardType()
```
    Specified by:
    
    getSmartDashboardType in interface Sendable
  - initTable
```
public void initTable(ITable subtable)
```
    Specified by:
    
    initTable in interface Sendable
  - updateTable
```
public void updateTable()
```
    Specified by:
    
    updateTable in interface UpdatingSendable
  - getTable
```
public ITable getTable()
```
    Specified by:
    
    getTable in interface Sendable
  - startLiveWindowMode
```
public void startLiveWindowMode()
```
    Specified by:
    
    startLiveWindowMode in interface LiveWindowSendable
  - stopLiveWindowMode
```
public void stopLiveWindowMode()
```
    Specified by:
    
    stopLiveWindowMode in interface LiveWindowSendable
  - enableModule
```
public void enableModule()
```
    Enable the module
    
    Specified by:
    
    enableModule in interface Module
  - disableModule
```
public void disableModule()
```
    Disable the module
    
    Specified by:
    
    disableModule in interface Module
  - getModuleEnabled
```
public boolean getModuleEnabled()
```
    Specified by:
    
    getModuleEnabled in interface Module
  - makeSafe
```
public void makeSafe()
```
    Make this actuator safe. This should disable the module and keep it disabled. There should be no way to recover from a "safe" state. This is here to allow for exceptions in function, to keep the code resetting (switching game mode) from affecting the state, in case an external sensor detects that the module will cause damage to itself or others (or even people) To recover from this state, the code should need to be restarted.
    
    Specified by:
    
    makeSafe in interface ActuatorModule

Class CANJaguar

Nested Class Summary

Field Summary

Fields inherited from interface io.github.robolib.module.MotorSafety

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Methods inherited from interface io.github.robolib.identifier.SpeedSink

Methods inherited from interface io.github.robolib.module.MotorSafety

Field Detail

kMaxMessageDataSize

kControllerRate

kApproxBusVoltage

m_safetyHelper

kFullMessageIDMask

kSendMessagePeriod

m_allocated

kEncoder

kQuadEncoder

kPotentiometer

kCurrentFault

kTemperatureFault

kBusVoltageFault

kGateDriverFault

kForwardLimit

kReverseLimit

m_deviceNumber

m_value

m_controlMode

m_speedReference

m_positionReference

m_p

m_i

m_d

m_neutralMode

m_encoderCodesPerRev

m_potentiometerTurns

m_limitMode

m_forwardLimit

m_reverseLimit

m_maxOutputVoltage

m_voltageRampRate

m_faultTime

m_description

m_controlModeVerified

m_speedRefVerified

m_posRefVerified

m_pVerified

m_iVerified

m_dVerified

m_neutralModeVerified

m_encoderCodesPerRevVerified

m_potentiometerTurnsVerified

m_forwardLimitVerified

m_reverseLimitVerified

m_limitModeVerified

m_maxOutputVoltageVerified

m_voltageRampRateVerified

m_faultTimeVerified

m_busVoltage

m_outputVoltage

m_outputCurrent

m_temperature

m_position

m_speed

m_limits

m_faults

m_firmwareVersion

m_hardwareVersion

m_inverted

m_receivedStatusMessage0

m_receivedStatusMessage1

m_receivedStatusMessage2

m_table

m_listener

kReceiveStatusAttempts

m_controlEnabled

Constructor Detail

CANJaguar

CANJaguar