[notmattlythgoe]

Here is a pic of our 4 motor drive setup. What we did was modify the FirstForge 4 motor setup vi to set it up for speed control instead. To do this we had to set the encoder rate, set the pid values, and enable it to allow the jaguars to have control. Then all we did was calculate the direction and magnitude and used the holonomic vi FirstForge provided. W actually never read the encoder rates while they are running and never set encoders up to use, the jaguars do all of this for us. What we did realize is that once you put the jaguars in speed mode you now send the jaguars the rate you want the motors spinning in rotations per second, unlike what the bd-comm application does.