[gracie.]

We had a lot of success with CAN this year. At first, it took a while for the programmers to sort out the needed modifications to the code, but after that it made things a lot easier from a wiring standpoint. We had 11 motor controllers this year, but our team only had 6 jags that were fit to put on the robot. So we ended up using PWM anyways for the 5 victors needed to fill the gap. However, CAN made my life a lot easier when putting the board together, and made it so we didn't have to worry about cables falling out on the field. We didn't have any connection issues from it. It was great!