So, my team wants to use jaguars, and I’m not sure what it is that I need to do in the programming to make them work with CAN. I looked at the sample VI, and I’m not sure what to do from there.

I am still learning the framework of FRC, so hopefully I get this right. The default code should allow you to drive when 2 of jaguars are plugged into pwm1 and pwm2. This is controlled via joystick 1. (arcade drive.)

Edit: If you need to use CAN instead of pwm, then replace the open function in the Replace the “Drive Open 2 motor” with the polymorphic version off of the palette. Then you can choose to use the CAN version.

Make sure to configure and enable the motors if you use them in Speed, Position, or Current mode.