Sending speed commands to CANJaguars

[Poseidon5817]

How do I go about sending a command to a CANJaguar instance? Is there a way that you could send a straight RPM using CANJaguar.something(500)? I've already done

CANJaguar.setSpeedReferece(...kEncoder)

and

CANJaguar.changeControlMode(...kSpeed)

Also, how do you configure the amount of pulses per encoder revolution and the distance per pulse for the encoder connected to the Jaguar?

[orangelight]

Look at our code from 2012
You should be able to do this to set the encoder pulse

CANJaguar.configEncoderCodesPerRev(360);

[Poseidon5817]

Thanks, that's perfect.