Motor speed sensing with the Jaguar motor controller?

[RyanCahoon]

The Jaguars have the capability to report the amount of electric current being drawn by the motors (but this does not give you direct information about the actual speed of the motors) over their CAN bus interface; this interface is illegal for FRC this year. If you want to know the motor speed, try using the US Digital encoders included in the KoP. These have an API in LabVIEW that will automatically track speed, as well as distance traveled and direction of movement if both sides of the quadrature encoder are wired. The encoders get connected to two digital inputs on the Sidecar: Wire the Brown, Red, and Blue wires to the Ground (black), +5 (red), and Signal (white/yellow) wires of one PWM cable, respectively, and the Yellow wire to the Signal wire of a second PWM cable.

--Ryan