[WizenedEE]

Originally Posted by sand500

Yea I understand that PWM controls the speed of the motors, but I dont know if the duty cycle of the arduinos are the same as what a jag and victor takes.

Check out the writeMicroseconds function. Snippet from my code that controls a jaguar (working and controls a robot and stuff):

Servo jag;
    jag.attach(9);
    int8_t jagspeed

    // ... set jagspeed to a value from -100 to 100

    // Jag datasheet says it wants a puse between .67ms and 2.33ms
    jag.writeMicroseconds(map(jagspeed, -100, 100, 670, 2330));