[FrankJ]

I know referring to the output of the jag as a DC voltage is not technically correct, but lets go with it in the interest of simplicity. The jag documentation refers to voltage output as well.

The PWM & default canbus mode (%VBus) converts the command from -100% to 100% output. The actual voltage out depends on the command signal & battery charge.

One of the CanBus modes is called Voltage. Its input is a voltage & it measures the incoming battery voltage & adjusts the actual command to try to give a constant output voltage independent of the battery charge. Sort of a poor mans close loop control.

We used it on our shooter this year & it seemed to help.

The only to access this mode is through can. Can gives you more controls & simplifies wiring. It is a single point failure that will bring down everything connected with. There are some programming gottyas that stop the whole robot. Done right it can be very reliable.