[mikets]

Now that the Jags run successfully in kPercentVbus mode as well as kVoltage mode as long as all the Encoder related initializations are commented out, I am investigating what exactly caused this. I have isolated the culprit. It looks like all the encoder initializations are fine except for the SetPID calls. So basically, the following code doesn't work until I comment out the CULPRIT_CODE lines. Note that the Jags are initialized to kPercentVbus mode. Kp is 15.0, both Ki and Kd are zeros. What could have caused this?

class MyRobot: public SimpleRobot
{
private:
    CANJaguar m_jagLeft;
    CANJaguar m_jagRight;
    Joystick m_leftStick;
    Joystick m_rightStick;
 
public:
    MyRobot():
        m_jagLeft(CANID_LEFT_JAG, CANJaguar::kPercentVbus),
        m_jagRight(CANID_RIGHT_JAG, CANJaguar::kPercentVbus),
        m_leftStick(JOYSTICK_LEFT),
        m_rightStick(JOYSTICK_RIGHT)
    {
        m_jagLeft.SetSpeedReference(CANJaguar::kSpeedRef_QuadEncoder);
        m_jagRight.SetSpeedReference(CANJaguar::kSpeedRef_QuadEncoder);
 
        m_jagLeft.SetPositionReference(CANJaguar::kPosRef_QuadEncoder);
        m_jagRight.SetPositionReference(CANJaguar::kPosRef_QuadEncoder);
 
#ifdef _CULPRT_CODE
        m_jagLeft.SetPID(DRIVE_KP, DRIVE_KI, DRIVE_KD);
        m_jagRight.SetPID(DRIVE_KP, DRIVE_KI, DRIVE_KD);
#endif

        m_jagLeft.ConfigEncoderCodesPerRev(DRIVE_ENCODER_CODES_PER_REV);
        m_jagRight.ConfigEncoderCodesPerRev(DRIVE_ENCODER_CODES_PER_REV);

        m_jagLeft.EnableControl();
        m_jagRight.EnableControl();
    }
 
    ....
    ....
    ....
    void OperatorControl(void)
    {
        while (IsOperatorControl())
        {
            m_jagLeft.Set(-m_leftStick.GetY());
            m_jagRight.Set(-m_rightStick.GetY());
            Wait(0.005);
        }
    }
};