[ronbaer]

Concur with the choice of Victor 888s vice Jags for simple motor controller. Jags are best used for CAN control and sensor integration (ie plugging sensors directly into the Jag).

Limit switches is a great use for Jags. Limit switches can be connected directly into a Jag. When the switch is pressed while the motor is moving in its direction, the Jag stops the motor, independent of the cRio software control. This is a good safety control when going beyond the limit switch can damage the robot wiring, etc. This limit switch mode works in both CAN and PWM control setups.

Jags can also accept encoder and pot inputs and can provide that data to the cRio via CAN control. There is also the automated feedback loop control.