[dsirovica]

Thanks for the feedback. JesusRambo - great name & great to hear you are conquering all obstacles - way to go!

I'm not confused with PID but with the set/get functions. We are using
CANJaguar.ControlMode.kPercentVbus
and implementing our own PID code in our main program. It all works fine and rather cool at MotorPowerLevels>0.2. The reason we went to our own PID is primarily because we have an old 2CIM on one gearbox robot and couldn't get either the Jag based PID nor the cRio based PID functions to work nicely.

The issue we have is at MotorPowerLevels <0.2 its erratic and the get() drifts away from what we set().

For the competition robot we have one CIM per side, so may try again with built-in PIDs.

Two Qs:
1. What do you recommend: using the Jaguar's PID, or the cRIO's?
2. How low RPM can one expect to get to with reasonable stability using a Jag & CIM?