[Tyler2517]

We had problems this year when we were geared on the high side for swerve.
When trying to go from a stand still to full power in a different direction we would draw a lot of current and brown out our CAN bus killing us for the match. We traced this to 2-5 year old battery. We got new batterys and implemented a new code feature that would off set the motors from each outher by .005 of a second allowing the magnetic fields to establish in the motors before the next ones would start.
CAN+Swerve...... Be carefully.