[JasonStern]

Our team has noticed a couple of areas in the (Java) CAN Jaguar code we would like to modify:

* Always send speed and position references no matter the control type
* Adding the ability to switch control types on the fly

Are there any hardware/firmware/software reasons that would prevent these changes?

The first change is because we discovered the Jags will not return a speed value in open loop control mode unless code had previously been loaded to the crio prior to rebooting that put the Jags in closed loop control mode (speed control). We have motor calibration code that depends on receiving speed values in open loop mode.

The second change is so that we can switch between position and speed control for different operations (autonomous and teleoperated).

We can just make the changes and try it out, but we have already bricked our spare Jags and don't want to risk it. (We also don't have any Black Jags for recovery.)

Thanks,
Jason