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Re: JAGS or not?
we've run into the same issue with our bot, I had such high hopes for the jags but we scrapped them and put in 888. The PID loop is now in software instead of hardware but that's just a change we had to deal with. We are still using the Jags for position of arms and current mode(since we stall a motor) and it works great for those but we have learned to not use jags for drive or other potential high current situations they arn't worth the trouble. Doesn't really help your situation but if you ask me I would replace them with something else and make that something else work. also keep in mind you don't tune the hardware pid values the same as software. the I and D terms in software pid are time bases and not gain coefficients so tuning is going to be different
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