[EricVanWyk]

You can try to recreate your own Voltage Mode control over PWM. Set your PWM output to (Desired Voltage) / (Measured Battery Voltage) each cycle. The advantage of CAN in this setup is that it measures the voltage more often and more accurately (closer to where it is used).


As Al said, it doesn't actually create that voltage - it just does a good enough approximation of it. For FRC purposes it should be indistinguishable.

The advantage of voltage mode control in general is that it reduces the impact of your battery voltage and current draw on the behavior of the motors. In Percentage control, the voltage / oomph applied to the motor can easily change by +/-40% as conditions change.