[drakesword]

So we have been messing arround with the jags outside of a competition environment. We had some code running where we could control voltage and position from an attached encoder. We couldnt get speed or current to work so we decided to update the firmware and hope that was the problem.

Firmware was at version 5### we updated to FRC 91 before we realised we couldn't use it with a 2CAN sending raw frames.

We downloaded the firmware development kit which had 5 different versions of the firmware in it (6288). Each one supported the Voltage control but none of the other functions. Also when we stopped sending data the controller continued with its previously set output (EVEN DISCONNECTED FROM 2CAN!)

So what version of the non-frc firmware are we supposed to use to have all of the closed loop functions running correctly?