[KrazyCarl92]

Team 20 has been using Jags since 2009 and CAN since 2010. Let me tell you, we have been rendered useless in (and presumably have lost) a not insignificant number of matches over that period of time due to Jag issues. It's frustrating to go back to the pits to find out that certain Jaguars browned out, or the CAN network timed out, or a Jag got burnt out. I will say that Jags are beautiful and elegant when CAN works properly, but oh so frustrating when you lose matches or can't perform because they fail where a victor simply wouldn't.

I'm not sure of this, but it seems like the tendency of a CAN to fail is proportional to the number of Jags. If you have 13 Jags in a CAN, you are more likely to have that single fatal failure than with 4 Jags in CAN. The problem is that if one goes down, they all go down.

All of that said, I think the plan for us moving forward will be to use victors in all applications except where a CAN would be particularly useful, if at all, but have a plan in place to switch to PWM on the fly. For applications like a turret or shooter wheels this year, the set position and set speed PID loops integral to the Jags in CAN was very useful. However, for other applications like a drive train or a collector system, the functionality of a victor will be sufficient. The idea is that victors will perform most functions, and then if we have any CAN Jags, a smaller network will be much easier to manage.