/** * 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) { } }