code/WPILib/CANJaguar.cpp
/**
 * Configure Soft Position Limits when in Position Controller mode.
 * 
 * When controlling position, you can add additional limits on top of the limit switch inputs
 * that are based on the position feedback.  If the position limit is reached or the
 * switch is opened, that direction will be disabled.
 * 
 * @param forwardLimitPosition The position that if exceeded will disable the forward direction.
 * @param reverseLimitPosition The position that if exceeded will disable the reverse direction.
 */
Configure Soft Position Limits when in Position Controller mode.

When controlling position, you can add additional limits on top of the limit switch inputs
that are based on the position feedback.  If the position limit is reached or the
switch is opened, that direction will be disabled.

@param forwardLimitPosition The position that if exceeded will disable the forward direction.
@param reverseLimitPosition The position that if exceeded will disable the reverse direction.
Configure Soft Position Limits when in Position Controller mode . When controlling position you can add additional limits on top of the limit switch inputs that are based on the position feedback . If the position limit is reached or the switch is opened that direction will be disabled . @param forwardLimitPosition The position that if exceeded will disable the forward direction . @param reverseLimitPosition The position that if exceeded will disable the reverse direction .
void CANJaguar::ConfigSoftPositionLimits(double forwardLimitPosition, double reverseLimitPosition)
{
	UINT8 dataBuffer[8];
	UINT8 dataSize;
	dataSize = packFXP16_16(dataBuffer, forwardLimitPosition);
	dataBuffer[dataSize++] = forwardLimitPosition > reverseLimitPosition;
	setTransaction(LM_API_CFG_LIMIT_FWD, dataBuffer, dataSize);
	dataSize = packFXP16_16(dataBuffer, reverseLimitPosition);
	dataBuffer[dataSize++] = forwardLimitPosition <= reverseLimitPosition;
	setTransaction(LM_API_CFG_LIMIT_REV, dataBuffer, dataSize);
	dataBuffer[0] = kLimitMode_SoftPositionLimits;
	setTransaction(LM_API_CFG_LIMIT_MODE, dataBuffer, sizeof(UINT8));
}
void CANJaguar :: ConfigSoftPositionLimits ( double forwardLimitPosition , double reverseLimitPosition ) { UINT8 dataBuffer [ 8 ] ; UINT8 dataSize ; dataSize = packFXP16_16 ( dataBuffer , forwardLimitPosition ) ; dataBuffer [ dataSize ++ ] = forwardLimitPosition > reverseLimitPosition ; setTransaction ( LM_API_CFG_LIMIT_FWD , dataBuffer , dataSize ) ; dataSize = packFXP16_16 ( dataBuffer , reverseLimitPosition ) ; dataBuffer [ dataSize ++ ] = forwardLimitPosition <= reverseLimitPosition ; setTransaction ( LM_API_CFG_LIMIT_REV , dataBuffer , dataSize ) ; dataBuffer [ 0 ] = kLimitMode_SoftPositionLimits ; setTransaction ( LM_API_CFG_LIMIT_MODE , dataBuffer , sizeof ( UINT8 ) ) ; }
Configure Soft Position Limits when in Position Controller mode.
Configure Soft Position Limits when in Position Controller mode .