One Encoder for Two Jaguars over CAN

[Bryscus]

I just want to get some expert opinions on the following:

We are using gearboxes this year that use two CIMs to drive the output shaft. The rules require that there be one motor controller per motor. The gearboxes have provisions for an encoder and we are using CAN on the Jaguars this year which would allow us to use closed-loop speed control. I was just planning on splitting the encoder output to the two different Jaguars. I suspect this will be OK in a speed mode, but feedback is welcome.

My big question is what do the experts think would happen if one was to use this same configuration in position mode? Is there much of a chance of the motors fighting each other at some point? Thanks.

- Bryce