[Aren Siekmeier]

Our team hasn't much extensive research here, but here's our experience anyway:

Last year, both 2175 and 3130 (the team we share a shop with) tried it out during the build season, but it consistently caused teleop to lag, and it seemed it was due to traffic jams on the CAN bus. Since we weren't getting that much benefit from the CAN bus anyway and it was near the end of build, both teams switched to PWM control because we needed something that worked, and the lag in Teleop went away immediately. Both teams were using the Serial to CAN capabilities of the black Jags. Since then, we have found that the lag issues on the CAN bus may have been due to loose connectors (the pins can get bent too far back), but haven't tested any of it yet.

This year, 2175 went with all Victors to save space and because they are significantly simpler electrically and don't fault. Also, we would have gained nothing from using CAN this year because all of the mechanisms for which we want closed loop control are on more than one speed controller, so offboarding the control loop is not an option. So 2175 hasn't pursued CAN since the end of the 2011 build season (we may play around with it more this offseason).

3130 gave CAN another shot, and as far as I know have had success. They are still doing Serial to CAN. But one of them would have to give all the details there.