public Climber() {
try {
ClimbJag = new CANJaguar(Wiring.climberCANID);
if (ClimbJag != null) {
// encoder configuration
ClimbJag.configEncoderCodesPerRev(ENCODER_LINES);
ClimbJag.setPositionReference(CANJaguar.PositionReference.kQuadEncoder);
ClimbJag.configNeutralMode(CANJaguar.NeutralMode.kBrake);
// We need this ramp rate. Without it rapid reversal causes transients
ClimbJag.setVoltageRampRate(20);
}
} catch (CANTimeoutException ex) {
m_fault = true;
System.out.println("*** Climber CAN Error ***");
}
calibrateEncoder();
}
