[sam_who]

All jags have version 91 firmware. The 2CAN webpage shows the firmware version.

All jags can be controlled in voltage mode.

If by "speed mode enable" you mean

myJag.EnableControl ()

then yes, I'm doing that.

It's odd. I can read PID values but can't read firmware version or position. The more I think about it, the jag acts like it's in voltage mode. This is despite the fact that I declared the jag to be speed controlled.

myJag ( 4, CANJaguar::kSpeed );

I just had a thought. I'm declaring my jaguar object (I think I'm using the correct term) rather than declaring a jaguar object pointer.

Can I use:

CANJaguar my_jag;

or do I have to

CanJaguar *my_jag;
my_jag = new CANJaguar ...

I'll have to try that later.

I don't use NEW for the voltage mode jags and they work but hey, who knows?