WPILibrary's CANJaguar Class?

[duffany1]

Hi,

I've got a few questions relative to the CANJaguar class in the WPI Library.

Does the CANJaguar included in the WPI Library run on its own interrupt routine? In other words, if we run custom PID code, and we perform functions with Jaguars using CAN, are we going to be 100% sure that our IRQ rate specified in our program (for TeleopPeriodic) will be the actual IRQ rate for the Jags? I need the wisdom of someone experienced with the WPI Library.

Thanks in advance.