[Levansic]

I am not familiar with the C++ framework, as my team uses LabView, but I'm fairly certain that the Jaguar firmware has little to do with your issue, assuming the latest version you refer to is the FIRST-specific v107. The four digit firmware versions will not work, as they lack the command acknowledgement and FIRST token handshake required for the safety system.

CAN timeouts have to do with not receiving acknowledgement from the Jaguars. The source of the problem is usually a physical break in the CAN bus, or the loss of termination. Sometimes the culprit is in software, like loops taking longer than 100ms to execute. How often are you calling this command?

I assume that you have assigned the jaguars their own ID's, and that these are consistent with your setup code. If you have two assigned the same number, they may cause issues with collisions on the bus.

It may help to know what experience your team has with CAN, and what physical method you are using to send the CAN commands (2CAN or serial jaguar bridge). Sometimes issues like improperly made cables cause issues.