[nighterfighter]

Originally Posted by Kevin Sevcik

Talons. Talons, Talons, Talons. The encoder input on the Jags is nearly useless. It won't give you feedback unless you're actually using a closed-loop control mode. And its closed loop controls aren't all that great. And you can only use one encoder and one Jag to drive one motor, unless you're doing something to split the encoder signal, because there's no way to slave on Jag to another. Talons on the other hand give you a constant feedback stream of both velocity and position, so you could put the PID on your roboRIO, or use the PID on the Talon. And if you're in velocity mode, you can still get position feedback for all your autonomous needs.

Okay cool! Like I said, I wasn't sure about the capabilities of Talons.

As for the closed loop part of the Jaguars, I suppose that's true. I've only ever used them with closed loop, I never anything else.