[juchong]

The biggest advantages we've noticed while using CAN have been current/voltage monitoring and feedback as well as the ability to use the jags directly with encoders. If it weren't for this feature, drive systems such as crab drive would be very difficult to pull off using the DIO on the cRio. Everything would be way too slow to be usable.

That being said, there are limits. If you have too many CAN devices on the bus and are not using a 2CAN controller, then you'll run into problems. But if you're working with 2 steering jags and a bunch of drive jags on PWM, the system is plenty fast. Another issue is being forced to understand what PID is and how it works. Many teams are not familiar with the underlying theory and find it difficult to work with the jag's built-in PID.

I also agree with Cecil, wiring is much easier too.