https://sourceforge.net/projects/ard...?source=navbar
This will allow you to run your jaguar motor controllers on arduino over the can bus. There are 3 features that aren't supported yet and that is getting speed, position, and limit switch status from the controller. I had an issue with the jaguar sometimes sending a number that confused the arduino, so I will release that when I figure out what is going on.
I started working on this library probably a good 8 months ago. Then I didn't work on it for quite some time. Its spring break now and I decided I better finish it. So here ya go
Next I'm going to release the entire ArduRIO control system
The Wiki should explain everything, but if you have any questions, or bugs please feel free to contact me.
This 6 weeks of work, sweat, thinking, designing, building, talking, discussing, turning wrenches, wiring, programming, drawing on chalk boards, eating pizza, drinking mountain dew, with the students - is what the FIRST experience is really about. - meaubry [more] 
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