[jhersh]

Originally Posted by Greg McKaskle

As mentioned, the WPILib CAN VIs are customized for FRC and so is the Jag firmware. These customizations are largely for a safety heartbeat mechanism, but also take care of bridging the CAN traffic over either enet or serial.

Perhaps http://www.ti.com/lit/ug/spmu065b/spmu065b.pdf or www.luminarymicro.com/jaguar will be useful.

Greg McKaskle

While that is true, most of the code is reusable. If you use the non-first specific firmware, then all you need to do is change the "token" enable and set commands into the non-token ones, and then at the lowest level of the Jaguar API (which calls into FRC_NetworkCommunication_JaguarCANDriver_sendMessa ge and FRC_NetworkCommunication_JaguarCANDriver_receiveMe ssage), reimplement those with VISA serial VIs instead of calling into the library. The Black Jag serial bridge plugin will show you how to turn CAN frames into serial traffic that the black jag can understand.

It's not exactly trivial, but it shouldn't take much effort. All the needed info is available.

Good luck!
-Joe