[timmmoore]

We used 1 black jag for rs232/can and encoder, 3 greys with encoder and 1 grey using limit switches. The 1 black and 3 greys were for a mecanum drive, the 4th was for our arm.
1. Update firmware to 90 or 91 on both black/grey
2. we used 1 black jag as the interface
3. We used version 39 from WPI + mods
4. version 39 has a lot more monitoring, see the speed control tuning vi and dashboard. We used current, limit switches and speed monitoring back to our dashboard for testing/debug
5. If you want to use mecanum you will need to mod the CAN mecanum for speed control - not that difficult or I can find our changes.
For some reason in speed mode the motor invert on the open isn't passed through, we modified the vi to handle the invert booleans