[drakesword]

1) Correct/Proper wiring both CAN and Power.
Going to rewire most of the can-related components at VCU. We were using 6 conductor wire. Going to switch to two. 120 ohm terminator soldered to wire not crimped.

2) Ground isolation of components.
Again as above. possible ground loop through our can wires

3) CAN Interface used, Serial or 2CAN
Serial

4) Type of JAGS used, Black, Grey, Both
Black (5)

5) The programming language used
Java.

6) The control mode(s) used.
Speed and Position

7) encoders, pots, limit switches are being used.
Us-Digital(I think) encoders 200 pulses per revolution. Don't know what switches we use but we have 2 on our gripper.

To address potential blocking we will make individual threads to set output to each motor.