[Gdeaver]

The window motor thermal shut down with the locking pins removed and a jag was only seen when used in a positioning application controlled by a PID. We used the window motors for our swerve steering - 4 wheel independent continuous rotation. With the jag we had intermittent thermal shut down with the jag. We switched to victors and had no more problems even with extended run times during practices in a hot building in the summer. We have used the window motors in other non - positional applications and not had problems with the jags. Of course if the window motor is over loaded it will shut down with any controller. It will live to run again. For what ever the reason jags and window motor in positional applications is probably not a good idea. We have used the banesbot motor and transmission for 2011 and 2012 avoiding this problem.
Did you find that the output of the Talon was linear or did you have correct it in software?
There have been many versions of the jag. I'm almost certain one version used lock anti phase. If I remember right they have gone from a high side switcher to locked anti phase to the current low side switching.
The manual states the pulse as .9 to 2 ms is this a typo? Should it be 1 to 2 ms and will use the victor motor routines for programming?
Our team has a problem of marathon diver practice . A battery change is not a cool down period. If we end up using Talons they will have fans.
Another motor controller option. I like options. Thanks for the attempt to support First. Have they given any hint of the Talons legality for 2013?