/**
* Change the control mode of this Jaguar object.
*
* <p>After changing modes, configure any PID constants or other settings needed and then
* enableControl() to actually change the mode on the Jaguar.
*
* @param controlMode The new mode.
*/
public void changeControlMode(ControlMode controlMode) throws CANTimeoutException {
// Disable the previous mode
disableControl();
// Update the local mode
m_controlMode = controlMode;
}
/** Disables the climber closed loop puts it into open loop. */
public void disableClosedLoop() {
if (ClimbJag != null) {
try {
ClimbJag.disableControl();
ClimbJag.changeControlMode(CANJaguar.ControlMode.kPercentVbus);
m_closedLoop = false;
} catch (CANTimeoutException ex) {
m_fault = true;
System.err.println("CAN timeout");
}
}
}
/**
* Common interface for disabling a motor.
*
* <p>Needed by the SpeedControl interface (swallows CANTimeoutExceptions).
*
* @deprecated Use disableControl instead.
*/
public void disable() {
try {
disableControl();
} catch (CANTimeoutException e) {
}
}