Also, with the Jaguar v.101 firmware, you can set the speed controllers to automatically ramp up the values by simply turning the limit switch jumpers sideways. You don't need to be using CAN to do this, either, only the firmware is needed.
More information on this can be found
here.
Seems a lot easier to me to just do this, if the ramp rate is good enough (I haven't tried this method yet)