[Doc543]

1. Ive used the PID on the Jags, I couldn't figure out how to run the WPI PID.
2. I got about 450 rpm with the KOP US encoders, setting them to 360 degrees per turn

How we initialized our Jags

      //Left Master, 360 Encoder 
        left_wheel1 = new CANJaguar(2);
        left_wheel1.changeControlMode(CANJaguar.ControlMode.kSpeed);
        left_wheel1.setPID(drive_p, drive_i, drive_d);
        left_wheel1.configEncoderCodesPerRev(encoder_rev);
        left_wheel1.setSpeedReference(CANJaguar.SpeedReference.kEncoder);
        left_wheel1.enableControl();

      //Left Slave
        left_wheel2 = new CANJaguar(3);
        left_wheel2.changeControlMode(CANJaguar.ControlMode.kVoltage);
        left_wheel2.enableControl();

How we ran our jags

        try{
            left_wheel1.setX(eft_motor);//master
            left_wheel2.setX(left_wheel1.getOutputVoltage());//slave
            
        }
    	catch(Exception ex){
		ex.printStackTrace();
	    }

master, slave style, works like a charm!