[biojae]

Thank you.

I have this working when I use PWM, i set the speed of each wheel, then every loop of the periodic, i calculate the new position based off of the distance traveled.
That part works.

What I would like to do now, is to use the jaguar's position control mode
(you tell it how far to rotate, and it rotates that far), and tell each side exactly how far to go instead of a % voltage.

Using the distance formula for one d.o.f. movement is easy, it calculates the distance between both points, and it travels that far.

The problem is when rotation is involved, with the % voltage I could give precedence to turning because i had two pid equations feeding the outputs to the motors, but with position control, more precedence is given to driving the distance, is there anyway to fix that?