[compboy07]

What language are we talking? I can help you with the code part if its in Java.

Also, have you considered using an encoder with a CANJaguar? From our tests, motor speed was very fluctuable using a voltage-based control system like a victor (you set it from -1.00 to 1.00, meaning -batteryVoltage to batteryVoltage). With an encoder, you can explicitly set a speed, and the CANJaguar class has a transparent PID function that makes it dead-easy to set the RPM. The only downside is wiring the CAN connector.