Problems using CAN with PID

[a240]

Hello,

I've been trying to use the CANJaguar class with PID control, but due to a lack of examples and documentation it has been a lot of guess and check work. I have successfully created a CANJaguar object and correctly configured it to the point where I could get encoder feed back. However I have run into a bit of trouble trying to use PID Control with the robot.

Here is some sample test code I created for a CANJaguar based driveTrain: http://code.google.com/p/iraiders-fr...riveTrain.java

My problem is that even after setting a setpoint value using setX(x), the driveTrain wheel fail to move. Testing shows that the method getX() returns a value of zero. What's wrong? If anyone knows anything about the topic any information would be very helpful.