[Brian Selle]

We had 13 motors on our 2012 robot, 9 were controlled with Jaguars/CAN using the 2CAN. The biggest issue we experienced early on was the connector pins not sprung out far enough to make good contact. After fixing that, everything worked flawlessly all the way through the championships. I suspect the latency issues mentioned earlier may have been due to using the serial bus instead of a 2CAN. We experienced none. We ran one closed loop PID loop with a high quality potentiometer and it was actually much less sensitive to the gains than running it through the cRio probably because the 1000hz update rate is more forgiving. Having some options to filter the sensor inputs would be very nice.

We had 2 alliance partners fail during our regional finals due to PWM cables coming loose (one was glued in place). I like hearing the RJ-11 "click" in place.