[slijin]

One point that I forgot to mention earlier was that using Jaguars on PWM is largely the same thing as using Victors (excepting the fact that Jaguars have a much higher refresh rate; they operate at ~15 kHz, as opposed to Victors' 480 Hz, if memory serves correctly). Jaguars on CAN require firmware updates (which can be found on TI's site), which is still bug-ridden despite all that's been done to fix them. For some teams, the firmware will work fine and CAN will function with no problems; others will experience disastrous firmware malfunctions that shut down their robot, and yet others will find that some Jaguars don't like firmware.