[mikets]

That depends on what mode you want the Jaguar be in. If you are doing default mode, then it is pretty simple. If, however, you are doing any of the close-loop modes, you need to call different functions to initialize the Jaguar correctly. For example:

        m_Motor1(CANID_MOTOR1_JAG, CANJaguar::kSpeed);
        ...
        m_Motor1.SetSpeedReference(CANJaguar::kSpeedRef_QuadEncoder);
        m_Motor1.ConfigNeutralMode(CANJaguar::kNeutralMode_Coast);
        m_Motor1.ConfigEncoderCodesPerRev(SHOOTER_ENCODER_PPR);
        ...