[Andrew Schreiber]

Linearity of Response: Jag - The Victors are incredibly nonlinear, see the discussion in the 254 code thread for some very pretty pictures on it.

Reliability Under Load: I can't speak for overall reliability (I've used Victors since 2004 and never had a problem with one, Jags have only been around since 2009 and isolating Jag problems from NI problems has proved to be difficult for me). I can, however, speak about issues that arise when going from full forward to full reverse. Jags have, in the past, tripped a breaker during this action whereas Victors will do this all day. There are tricks you can do to fix it but if you want immediate response (within 3/4 cycles) you want a Victor in your DT. For most other places the Jag is probably fine though.

My money has been on Jags since 2010 because of CAN. In those two years we have never gotten it working as reliably as I desire on an FRC robot. Early reports I've heard have not been too positive of the CAN stuff for this year either. (High CPU load, not sure what the cause is)

As a result, I would recommend 884's in the drive train (despite their nonlinearity) and Jags elsewhere. While this will mean whatever loops you use to control your DT will suffer (PID assumes linearity) but the rest of your loops (arms, shooters, elevators, whathaveyous) won't.