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Re: swerve drive with arduino mega 2560
If you are having trouble you can use the library I wrote to control FRC motor controllers. check the link below, and consult the wiki for help.
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I need a jaguar development board for reprogramming a jaguars bootloader. if you have one that you want to sell, pm me. thanks 
Run you CanJaguars on arduino with ArduRIO, you can also easily control Talons, Victors,Jaguars and Sparks on PWM. https://sourceforge.net/projects/ardurio/
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