[gpetilli]

All robots have the issue that the motors on opposite sides need to be driven inverse from each other. Some teams reverse the motor leads, but if you use encoders (which are not as easy to invert) it is much easier to invert (typically the right side) in software.

The Jaguars use a VELOCITY PID algorithm that is best tuned by starting with the I term small (say 0.01) and raise it slowly until it becomes unstable. Then increase the P term to make it more stable.

I am attaching a spreadsheet that we use for initial estimates of the PID values. The ones you want to use are the last two columns labeled JagI and JagP. We typically tell the jaguar that the encoder lines is the number of ticks per inch (not ticks per rev) so the reported speed is in inches per second, not RPM. If you want RPM, the values in the table need to be scaled.