[kamocat]

I want to know when a Jaguar is lost, and quickly, so my code can deal with the problem of (a) not getting feedback on that motor, (b) not being able to control that motor, and (c) reenabling/reconfiguring that Jaguar when communication is regained.

I think I'm starting to see why the Jaguars support motor control through PWM with simultaneous feedback through CAN. But that brings the benefit of CAN to nearly nothing, because you now have the issues with the PWM cables: no keying (easy to put in backwards), easy to wire the cable to the wrong controller, cables are fragile and pins bend easily. It's even the same cable as on the GPIO, Relay outputs, and Analog Inputs.


About the Enumeration, though, I wonder if I could cut that wait function shorter? Would it just cut off some of the motor controllers if they were above that value?

Also, I'll retest that series vs parallel thing to see if parallel executes faster when one of the controllers is unplugged.