Manual

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V18.09.13

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private void myJaguar_StandardSensorEvent(object sender, EventArgs e)

{

boardVol = ((double) myJaguar.GetSensorBatteryAD1() / 4095 * 9);

motVol = ((double) myJaguar.GetSensorBatteryAD2() / 4095 *

34.498);

}

You could read motor temperature sensor in custom sensor event, function Trans2Temperature() is based on the

sensor specification to translate AD value to temperature (in celcius degree).

Also you could read left/right wheel motor encoder in this event.

private void myJaguar_CustomSensorEvent(object sender, EventArgs e)

{

// front left track motor

double tempM =

Trans2Temperature((double)myJaguar.GetCustomAD5());

tempM = double.Parse(tempM.ToString("0.00"));

lblTemp1.Text = tempM.ToString("0.00");

// front right track motor

tempM = Trans2Temperature((double)myJaguar.GetCustomAD6());

tempM = double.Parse(tempM.ToString("0.00"));

lblTemp2.Text = tempM.ToString("0.00");

// rear left track motor

tempM = Trans2Temperature((double)myJaguar.GetCustomAD7());

tempM = double.Parse(tempM.ToString("0.00"));

lblTemp3.Text = tempM.ToString("0.00");

// rear right track motor

tempM = Trans2Temperature((double)myJaguar.GetCustomAD8());

tempM = double.Parse(tempM.ToString("0.00"));

lblTemp4.Text = tempM.ToString("0.00");

leftFrontWheelMotor.encoderPos = myJaguar.GetEncoderPulse4();

leftFrontWheelMotor.encodeSpeed = myJaguar.GetEncoderSpeed4();

leftFrontWheelMotor.encoderDir = myJaguar.GetEncoderDir4();

rightFrontWheelMotor.encoderPos = myJaguar.GetEncoderPulse5();

rightFrontWheelMotor.encodeSpeed = myJaguar.GetEncoderSpeed5();

rightFrontWheelMotor.encoderDir = myJaguar.GetEncoderDir5();

}

To stop all motor, you could use:

myJaguar.DcMotorPwmNonTimeCtrAll(16384, 16384, 16384, 16384, 16384,

16384);

For track/wheel motor control, we use differential-drive mode. Under this mode, PWM channel 3 is forward

power and PWM 4 is turning power.

To move forward with full power

myJaguar.DcMotorPwmNonTimeCtr(3,0);

To move backward with full power

myJaguar.DcMotorPwmNonTimeCtr(3,32767);

To turn left with full power

myJaguar.DcMotorPwmNonTimeCtr(4,0);