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Re: Advantage of CAN?
You can use the encoders using 2 digital inputs from the Digital Sidecar just fine, without using CAN.
As far as advantages, the main one that I personally like is no more zip tying PWM wires together to run them across the robot several times. With CAN, the Jaguars can be daisy chained together, making it look a lot cleaner and easier to find faults.
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I'm right 90% of the time, so why worry about the other 3%?
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