Quote:
Originally Posted by yash101
However, if I am not wrong (and please correct me if I am), you can have more motor controllers on the CAN but than you can have PWM connections. That will allow you to have more complex mechanisms! There is the problem that it is hard to get enough Digital I/O pins.
"Pins, pins and pins...what microcontrollers need more of"
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Quote:
Originally Posted by magnets
This is true, but you can have 20 different PWM outputs. No team will need 20 different outputs, so number of outputs isn't really an issue.
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I'm pretty sure I count only 10 PWM outputs on the Digital Sidecar. Therefore, I'm assuming you're referring to using two digital modules and two sidecars.
If you use the default setup, i.e. where a Black Jaguar is used as a Serial to CAN bridge, you max out at 16 CAN nodes (though multiple teams have posted that they had comm issues at 12 to 14 nodes). I'm unsure of the maximum for a 2CAN setup, but I believe that it should be higher.
Therefore, the protocol that can handle more nodes it is dependent on how many digital modules and sidecars you use (which in turn is partially based off of your model of cRIO -- the older model had more slots available).
All of this being said, I tend to agree with magnets; the number of nodes you can control with either protocol is really not a factor in deciding what protocol a team will implement on their robot. And this is all completely tangential to the OP's question, to which it sounds like they'd rather use Victors.