[The Lucas]

I use both.

Jags with CAN for anything that needs precise control (drive and arm). I prefer the linear output curve of the Jags and you have way more feedback and control mode options. I also like CAN bus daisy chain wiring, which is a lot cleaner and way easier to make custom length cables for. Jag are more vulnerable to swarf (metal bits) destroying them, but make sure you cover them during machining and you should be fine. Also, mounting them vertically (back to back) reduces the metal shaving vulnerability and reduces the footprint on the board. We have no problems with Black Jags when we keep them free from metal shavings. Don't use Grey Jags (they aren't made any more for many reasons) on a competition bot since their U6 gate driver chip is faulty (it took a failure at Philly to finally hammer the point home buy another Black Jag to run the arm).

I use Victor for things we are running at fixed speeds (roller claw) since they are lighter & smaller. Also for all Denso windows motors if I can't convince the team to use a better motor and can't run it at full speed with a relay (window motors are not meant to run off speed controllers and they don't work well with Jags). I have had about 6-8 Victors fail over the year due mostly to metal shaving (I think). Not coincidentally they were mounted in terrible places on the robot where all the metal shaving fall. This is an important consideration when locating and covering your electrical board.