[Radical Pi]

First of all, Marshal is right, you shouldn't be calling Set with a direct input from the throttle axis. When is speed mode, Set expects a rpm value.

I declare all my jags as pointers, but that's personal preference and as long as the code builds properly and the voltage-based jags are working it shouldn't be a problem.

I've seen those same errors on my bot during boot. For some reason the jag doesn't notify the cRIO of its firmware version properly. It seems to have no affect on my bot (using voltage mode), but I do see in the source one command crucial to speed mode that occurs after the point where the code would exit. Try calling SetSpeedReference(CANJaguar::kSpeedRef_Encoder) on the jag.

From what I can see of your problem, the jaguar is reading a speed of 0 from whatever its speed source is. In the default firmware, if no speed reference is set (which may be happening with those errors), checking the speed will always return 0, which can cause those symptoms.

If the speedReference thing doesn't work, double check that your encoder is working properly. I don't remember the exact wiring required for this, but the cypress board can read encoders if required (it has something to do with pin 5)