[arithehun]

Are you using CAN? If so, you can use the internal PID modules of the jaguars to make your code more clean. If not, then definitely set up a PID loop in your code? Are you using command-based programming? If not, I'd highly recommend it. Once we get more information, we can help you out more. I assume you already know how to get, parse, and understand the speeds it will send you.