[chi-town-biker]

We’re considering using CAN this year for the position mode during hybrid and speed mode during teleop.

I noticed that there were several discussions last year on how to use an encoder with a two CIM gearbox. Some suggesting splitting the encoder wires but the ground wires needed to be isolated. Others suggesting connecting the encoder to the master jaguar and then using the voltage output of the master as the input into the slave jaguar but that sometimes created problems. I may have missed other methods. Is there any consensus on the “correct” way to use an encoder with a two CIM gearbox?

Thanks