[gpetilli]

Wolfspell
If you are connecting the encoders to the jaguars, then you do not use the encoder class on the cRIO.

You should start by hooking the jaguar to a laptop using a serial cable and BDC-Comm software to debug the parameters that you want to send to the jaguar. When you configure your drive software, you can assume the the command to the jaguar is "ideal" and not use close loop control on the cRIO for wheel speed. Be sure to set the right side motors to inverted on the cRIO; the feedback to the jaguar will be inverted if you try to reverse the motor leads to invert the direction.

If you are using a gyro, that still gets connect to the cRIO for rotational control, which will modify the commands sent the the "ideal" jaguars.