[daltore]

If you are using CAN on Jaguars, you can actually interface these encoders directly to the Jaguar. There is a 5-pin encoder port on the bottom right of the Jaguar which is designed for these encoders (one pin is not used). All of the pins are labeled. These encoders should have come with their own connector cables which will give you a little room to work with so you don't have to put custom connectors into the encoder.

Our team actually uses phone cables instead of PWM cables. We got some phone couplers from the dollar store and some modular plugs and the cable from Fry's. We crimp a modular plug on the end of the cable that comes with the encoder, and put it in one of the couplers. Then we secure the coupler down. We run another cable with a modular plug one end and a 5-pin PWM connector on the other end to the Jaguar (with the pins in the right order, of course). That way, we can more easily replace a cable if gets damaged by some moving part of the robot.