CAN for dummies

[Ether]

Originally Posted by daniel_dsouza

Um...Do you mean this? In Auto. mode, we want to give our robot instructions like move forward 5 feet, then turn 60 degrees, and so on. We want to implement this by telling the jags to keep turning until they have reached that the total.
In teleop, we will have our robot controled by one joystick, and the encoders will be used to make sure that the ratio of the input values (left, right) is the same as the output (left, right).

Sounds like you want position control for autonomous, and speed control for TeleOp.

In case you decide to do the PID in cRIO instead of Jag, be aware that there's a bug in the cRIO's FPGA code that counts encoder pulses.