[abrightwell]

This weekend we found that there is potentially a bug in RobotDrive.java with CANJaguar and Mecanum.

Specifically we found the following:

RobotDrive.java:72

protected boolean m_isCANInitialized = false;//TODO: fix can

RobotDrive.java#mecanumDrive_Cartesian():499

if (m_isCANInitialized) {
    try {
        CANJaguar.updateSyncGroup(syncGroup);
    } catch (CANNotInitializedException e) {
        m_isCANInitialized = false;
    }
}

Essentially, m_isCANInitialized is never set to 'true'. Therefore, 'CANJaguar.updateSyncGroup' is never called. Given the "TODO: fix can" note, I'm certain that this was just an oversight prior to releasing the wpilibj for this year. So, assuming the worst being that it will not be fixed/updated, the effective work around for us in our drive system is the following:

private static final SYNC_GROUP = (byte) 0x80;

...

robotDrive.mecanumDrive_Cartesian(...);
CANJaguar.updateSyncGroup(SYNC_GROUP);

I'm willing to accept that this may not be the correct solution and would be eager to learn if anyone else has experienced this issue or has suggestions/feedback.