[AustinSchuh]

Yes, it has to do with one of the jumpers. It should be documented in the Jaguar docs.

To solve this in software, you would attach an encoder to one of the shafts and then use a PID loop to control it. There are a couple of papers in CD-Media about how to tune one and what one is. A PID loop can be thought of as attaching a software spring to the arm to help hold it up in position. The P term is probably enough to at least get you started, and is easier to understand than the rest of them when you are first starting out.