[jwakeman]

My plan this year is to use the Jaguars in current control mode. I will run a speed regulator on the cRio which is commanding the set points for the jaguar current controller. So to say it another way a speed regulator running on the cRIO wrapped around a current controller running on the jaguar. I have had success running the jaguar in current control mode (It basically worked no matter what I set the gains too!). I haven't tried wrapping the speed controller around them yet but i can post back here if others are interested in the results once I do so. I figured I would just post this configuration here as a possible alternative to full speed control on the jag.