[mikets]

Thanks for link, Ether. We are not worrying about the encoder though because we will be mounting just one encoder on the shooter wheel axle. Coincidentally, we did plan on using the cRIO to do PID because we couldn't get the Jaguar built-in speed control to be stable enough. We ended up integrating the WPILib PID controller and get a pretty stable speed controller. We are running the Jaguars in PercentVbus mode. So once the cRIO PID control reads the speed from the Jaguar, it will compute the output power in Percentage units and program the two Jaguars with this value. My worry was the time difference between programming the two Jaguars may put a slight stress on the earlier Jaguar.