I see that RobotDrive:
rive(),RobotDrive::ArcadeDrive(), RobotDrive::TankDrive() are setup to work with the CANJaguar class. However, since the output from the RobotDrive class is always limited to -1.0 to 1.0 I think it will only work if the Jaguar is in percent vbus control mode. It looks like if the min and max output was able to be set for RobotDrive then it could be used with the other control modes. Can someone confirm my conclusions? I may submit an enhancement request on FIRSTForge.