[computerish]

We're using black jaguars with the US Digital E4P quadrature encoders.

Using BDC-COMM, we were able to get closed loop speed control working nicely and the speed reported seemed to be accurate.

After attempting to transition to code, the speed PID loop (running on the jaguar) seems like it is working. We can't tell for sure, though, because the speed through the getSpeed() method is always zero. We've configured the encoder codes per revolution, set it in speed mode, called enable on it, and set the position reference to kQuadEncoder. What else could account for this problem?

Thanks!