Using an encoder with a two CIM gearbox

[mjcoss]

We tried a number of different approaches, and like other teams we ended up running the PID loop on the cRIO. The best results we got was running a master/slave setup, but I didn't like it so we went back to just running the control loop on the cRIO.

You can successfully split the encoder, and we in fact ran them to both Jaguars and to the cRIO. But as I said, we ended up ignoring the inputs to the Jaguars.

Ideally, it would have been nice to have a firmware update that would have let us do this on the Jaguars, but no such luck. There was some talk that it might happen, and I was hopeful when there was a firmware update. Maybe next year.