[jhersh]

As long as you are getting a timeout from a send message call, there is something wrong with either your wiring or your configuration. Once you get past that, then you'll need to make sure you are calling all the right methods to enable the closed-loop control. Your first code snippet was much closer than this most recent post.

Calls like this are needed:

speedJag.SetSpeedReference(CANJaguar::kSpeedRef_Qu adEncoder);
speedJag.ConfigEncoderCodesPerRev(360);
speedJag.SetPID(P, I, D);
speedJag.EnableControl();
speedJag.Set(stick.GetAxis(axis) * 150.0);

Try using the jag in speed mode outside of RobotDrive first.

-Joe