[Greg McKaskle]

The motor controllers you are dealing with are not aware of the type of motor and have little ability to measure how fast it is turning. It is possible to use CAN and a Jaguar motor controller, connect a motor and an encoder or other rotation sensor, and then you can get the Jaguar to do the speed control to get to motor to a given RPM set point. You can also do this in the cRIO, but at a somewhat slower speed. You still need an encoder and you need to use a control block such as PID or implement a simple bang-bang controller.

Selects and Case Structures are very similar. The biggest difference is that using a Select, all code is actually executed and the selected answer is propagated downstream. With a Case, only one of the Case statement diagrams is executed.

If you find yourself nesting too many expressions -- in any language -- there is often a more concise way to code it so that it is more readable. But this is a learning experience, so do it in whatever way lets you express what you want as code. Experiment with alternative ways of writing equivalent code, and before long you will develop your preferred coding style for this sort of thing.

Greg McKaskle