Jaguars do not work except in percent vbus mode

[wmarshall]

This bit my team, too. In anything but PercentVBus, a few extra calls have to be made. You're using voltage, so the Jaguars can do the referencing internally, so no external references have to be set.

However, for any control mode that needs to go to a setpoint, you need to set and tune the Jaguars' internal PID loop. In addition, you have to manually enable control. Use something like

jag.setPID(1,1,0);
jag.enableControl();

without the made-up numbers. I'd recommend the BDC-COMM utility to tune the loop, as it drastically simplifies things.