single lline encoder on Jags

[Ether]

Originally Posted by mikets

We have connected our 250-line encoders to the Jags. They worked as expected.

Did you connect both channels? Or just one (the OP's question).

We are doing speed control on it although we did not use the Jaguar's built-in PID. We used our own PID controller library in the cRIO.

Am I understanding correctly: You connected the encoder to the Jag, then using CAN you read the speed from the Jag, then used that speed as the feedback to a PID on cRIO, then used the cRIO's PID output to command the Jag?