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(); }