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This will allow you to run your jaguar motor controllers on arduino over the can bus. Querying status from the motor controller is currently not supported. I had an issue with the jaguar sometimes sending a number that confused the arduino, but that will be coming in a later update
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.