[mattbutts]

We are also looking at this. I was planning to have one of the students on our team write the functionality for the speed control mode, but I am having a hard time finding the structure for the different CAN messages.

Specifically, looking through the code, it looks like the only trusted messages listed are for enabling different modes and setting their target. In speed control, we would need to know what the messages look like for defining the P and I gains as well as the encoder information.

Unless these can be set in the Jaguar using the BDCOM utility and will stick through power cycles.

Anyone know where I can find this information?