Using Jag PID in speed AND position mode?

I was wondering if it was somehow possibly to use the JAGs PID in both speed and position mode? We would use the speed mode for general traveling around, but position mode when stopped and aiming. I’ll play around with it when I have the chance as it seems something very worthwhile having. If anyone knows more about this please let me know

We have never used the Jaguar PID in both speed and position mode, however, we have used a Jaguar in both position PID and vbus mode. We had to reload all relevant configuration when we switched modes. However, we had no issues with switching.

Ah I see. so unload the previous instance and reload with new setup. I wonder if you can setup both at the start then simply chose which mode is enabled. I’ll have to have a good play around with it