[Kevin Sevcik]

Actually, I'd look move to pages 8 and 9 of the data sheet, on "Accuracy variations as a result of Vsense and common mode voltage".

This amp is apparently most accurate at sense voltages >20mv. Which equates to 20A for us. There's 3 operating cases in this range, and we're not in the worst... So it could be worse? I've attached a snapshot of an example graph. What it boils down to is that the amp goes non-linear below 20mv, and eventually lands on some positive offset voltage at the output, instead of zero. They state the worst case zero offset at the output is 300mv. It looks less linear the closer you get to 0 Vsense, so that's exciting too.

Oh yeah. And both Jags record a zero offset for the current ADC on power up, and then subtract that from current readings forever after. So if you end up with the worst case 300mv offset, then your readings above 20A will read 15A low. We're probably not getting this worst-case scenario, but that's obviously going to affect the accuracy of ALL the current readings. Better might be to just assume/hope that you have little absolute error in the ADC, and just use the zero offset as a linear correction below 20mv Vsense.

Maybe FIRST will let us modify the Jag firmware this year?

Yeah, you're right. That's never gonna happen.