[DonRotolo]

The advantage of using the Jaguar's internal PID control loop is that the cRio does not use any CPU time for that task. Very valuable if you have a lot of PID loops or your cRio is seeing heavy utilization (e.g., over 60% CPU load). The disadvantage is that you must use the CAN interface. While not terribly difficult, unfamiliar territory in the middle of the season might be best avoided.

Running a PID loop on the cRio is slightly more effort, but PWM control should be very comfortable by now. There is a library function for this (at least in Labview), or you can write your own.

I advise building a special program that runs just this code and nothing else, so you can get familiar with it and tune it without worrying about drive/dashboard/etc. code.