[magnets]

Perhaps an EE could help me out, but why go to 15kHz for the switching frequency? Is the 1kHz used on the Victor 888 not smooth enough?

From my small knowledge of EMI, the effective interference from the motors is proportional to switching frequency and current, both of which are very high in this application. Putting so much circuitry right next to the controller (like the CAN bus) makes me a little nervous.

The motors also generate really strong fields and though they drop off quickly, they still have an effect on our control system. Now that our main controller is no longer in a big heavy metal grounded enclosure, I'm slightly concerned about this.

That said, I am not an EE, but I dislike anything that increases electrical interference on the robots.