[kamocat]

I noticed that each Jaguar reference has its own unique semaphore (meaning the semaphore only prevents simultaneous messages to the same Jaguar. This implies other Jaguars on the CAN bus can still communicate while this Jaguar is processing.)
I tried sending commands to several Jaguars in parallel, but it didn't execute any faster than when I did it in a FOR loop.
I suspect the CAN messages are taking disproportionately longer when they contain data.

In other news, I created a CAN manager over the weekend, as a central location for getting updates on the status of CAN devices, and so notifications (like "lost comms with Device 12" and "Device 13 rebooted") can be recieved in a timely and synchronized manner.
However, I'm only getting about 12 iterations per second out of it right now. That's probably due to my use of the Enumeration (which takes 64ms plus however long it takes to send and receive the data). I'm hoping to get about 5 times that rate.

EDIT: CAN Receive is SLOW when a Jaguar loses comms. I wonder if I could change the timeout?