CANJaguar

[CodeYeti]

Besides variables going out of scope, the code you have posed there would do ok. To answer your question about creating Jaguar instances, you can create a RobotDrive both ways

RobotDrive(int frontLeftMotor, int rearLeftMotor, int frontRightMotor, int rearRightMotor);

/* OR */

RobotDrive(SpeedController frontLeftMotor, SpeedController rearLeftMotor, SpeedController frontRightMotor, SpeedController rearRightMotor);

And whether you have CANJaguars or regular Jaguars all depends on how you have them hooked up. chances are, you have normal Jaguars. If you are using a PWM cable to hook the Jaguars to the digital module/sidecar, then you have regular Jaguars for sure.

EDIT: Also, its more common to use the y axis of each joystick to control motor speeds than it is the throttle, but obviously you can do whatever you wish.