[Abrakadabra]

MikeE & Mike,

This is extremely useful information. We have also been trying to get Speed mode working without much success so far. (Seems like someone would have tested it before now...) We will try your suggestion this afternoon.

We would also be very interested in seeing your working code. Of particular interest is if there is any dependency on the order in which you do things, i.e. enable speed control and then set speed reference, or vice versa?

The CANJaguar code (SetPositionReference()) implies that setting a reference while in Speed mode is "Error, Invalid". Does there exist a "real" documentation reference that gives the details of the Jaguar CAN messaging protocol? Somebody must have one...

Again - thanks for your investigations on the bleeding edge.

- Scott