[skidad68]

Does this help? The problem is in the DriveWheel::calibrate() method.

DriveWheel.h

#ifndef DRIVEWHEEL_H
#define DRIVEWHEEL_H

#include "WPILib.h"

class DriveWheel
{
    CANJaguar    driveMotor;
    CANJaguar    steerMotor;
    DigitalInput    limitSw;
    bool            calibrated;

public:

    DriveWheel(UINT8 driveID, UINT8 steerID, UINT8 limitID)
        : driveMotor(driveID, CANJaguar::kPercentVbus),
        steerMotor(steerID, CANJaguar::kPosition),
        limitSw(limitID),
        calibrated(false)
    {

    }


    void init();

    void calibrate(int clock);

    void setValues(double drive, double rotation);
};
#endif

DriveWheel.cpp

#include "DriveWheel.h"

#define LIMIT_ACTIVE 0

void DriveWheel::calibrate(int clock)
{
    int limit = limitSw.Get();
    printf("limit %d\n", limit);

    if (clock == 0)
    {
        printf("start calibrate\n");
        if (limit == LIMIT_ACTIVE)
        {
            calibrated = true;
        }
        else
        {
            steerMotor.ChangeControlMode(CANJaguar::kPercentVbus);
            steerMotor.EnableControl(0);
            steerMotor.Set(0.1);
        }
    }
    else if (!calibrated)
    {
        if (limit == LIMIT_ACTIVE)
        {
            steerMotor.Set(0);
            calibrated = true;
            init();
        }
    }
}

void DriveWheel::init()
{
    steerMotor.ChangeControlMode(CANJaguar::kPosition);
    steerMotor.SetPID(2000, 0.1, 0);
    steerMotor.SetPositionReference(CANJaguar::kPosRef_QuadEncoder);
    steerMotor.ConfigEncoderCodesPerRev(250);
    steerMotor.EnableControl();

}

void DriveWheel::setValues(double drive, double rotation)
{
    driveMotor.Set(drive);
    steerMotor.Set(rotation);
}