[kamocat]

Sure.
I'm assuming your Jaguars have the correct device IDs. (11 and 12 for Left and Right drive)

The code I provide is in Speed mode, meaning it requires encoders to be connected.
I can provide pictures if that would help.

Assuming those are set up correctly, the issue is probably related to PID tuning. I've recently changed the PID tuning to be a lot more controllable at low speeds. (P is now 0.3 and I is 0.01. D is still zero)

If none of those are the issue, I'll need to know more information.

Where did you download the code from? If it's GitHub, I'll also need to know the approximate date, as that is a working repository.


Thanks!