[woodk]

Originally Posted by Joe Ross

If you install the firmware development package from http://www.luminarymicro.com/products/mdl_bdc.html in the docs folder it has the CAN protocol spec, so you could implement whatever mode you want.

Thanks! I figured most of that out by monitoring the communication between BDCOM and the Jaguar, but that doc is much easier!

However, it doesn't include the modifications made in the FRC firmware, which we are required to use. I have managed to get speed control working with the FRC firmware, but they seem to have done something to the current control that I haven't figured out yet.

- Kevin