What happens when an encoder goes out?

[jhersh]

Originally Posted by Inconceivable

I've heard, however, that the serial port on the cRIO has a little trouble both setting values and reading RPM from the jags simultaneously...

That's not the case, except for the fact that only one message can be outstanding at one time. This is a limitation of the Jag, not the serial port. Each message only takes about 3ms - 4ms. You can typically have about 3 outstanding messages to different motors at a time.

-Joe