Since the release of Jaguar, all control modes (voltage, speed, current, and position) have been functional. During the course of the build season earlier this year some teams helped us determine that there was a bug in the PID routine that made it more difficult to tune your PID constants. We released firmware versions up to 91 to fix the PID bug as well as some other minor bugs.
Note: for the 2010 season, FRC firmware versions 87 through 91 were all legal for competition.
If you are using a FIRST cRIO as the controller, you must use FRC legal firmware on the Jaguars. The cRIO uses the trusted protocol that is not present in the non FRC versions of Jaguar firmware.
If you are using some other controller with 2CAN or the Black Jag (as a serial bridge) you must use non FRC firmware. Otherwise you will not be able to communicate with the Jaguars because of the trusted protocol.
The exception to this statement is if you are running an FRC version of BDC-COMM on your computer which is serially connected to a Black Jaguar. The FRC version of BDC-COMM has both trusted and untrusted support.
In summary, these are the combinations that will work:
Controller - Bridge - Required Jaguar Firmware
cRIO - 2CAN - FRC legal
cRIO - Black Jag - FRC legal
PC (FRC BDC-COMM) - Black Jag - FRC legal/non FRC
PC (BDC-COMM)- Black Jag - non FRC
Other - Black Jag/2CAN - non FRC
What is your setup; how are you connecting to and sending the Jaguars commands?
-David