[wolfspell12]

Perhaps I should have clarified a little about our current control setup. We plan to plug our encoders into the jaguars-if I'm understanding what you're saying correctly, the CAN Jaguar class is what you use for an encoder if it's plugged into a jaguar, and the Encoder class is used for connection to the cRIO?

The encoders are only receiving real use in autonomous, which will drive forward and deposits a ball in the one point goal if one was pre-loaded, once we've actually written that command. During teleop, the plan would be open loop control as implied by a Cartesian method. Is something like that feasible, and does something like that require a separate subsystem for the drive? Will switching to an open loop system mid-game still work when the Jaguars are only connected via the CAN bus? I do see a .disableControl() method that sounds like it disables closed loop control-but I don't know if that would enable open loop control.

Alternatively, if we need to rewrite the source, would that be productive, how hard is it, and are there any questions on legality? Could we get some guidance on doing so?

There is the final option of using encoders during teleop, without the gyro, which is something I'm just as unfamiliar with as the CAN Jaguar system itself. It doesn't look like anything in the RobotDrive class is compatible with CANJaguar objects, and I don't know how to write a drive code with simply the CAN Jaguar class, though I think the percent vbus thing is the most simaler to RobotDrive.

While I know which is which in the code (CAN Jag is closed; RobotDrive is open), an explanation of how open and closed loop are different would also help me make more sense of this.