[Mike Copioli]

A couple observations:

It appears that at this point all you want to do is control your Jags using voltage control mode, this is the mode that provides the same functionality as pwm and is the default mode in the CANJaguar constructor.

CANJaguar (UINT8 deviceNumber, ControlMode controlMode=kPercentVbus)
Constructor.

You pass in a throttle value between -1 and 1 into Set(). To simplify things I would remove all but one Jaguar from the CAN bus. Make sure you are only calling Set() for the Jag that is on the CAN bus as this will also cause the
-44087 error to appear. Open the web dash to verify the Jag ID. Using only one JAG eliminates the possibility of having more than one jag on the BUS with the same ID, this will also cause the -44087 error as well.

Make sure the 2CAN LED is green if it is RED power cycle the Jag and the LED should turn Green. (FYI if you remove the CAN cable from the JAG the 2CAN led should turn red, removing the Ethernet cable should cause the LED to turn orange, removing both will cause a red LED.)

If the LED is green and you have the correct ID's and you are not sending requests to any other JAG's that are not on the BUS your code should work.