[NotInControl]

Originally Posted by Oblarg

The former.

AFAIK, in order to use solenoids, you must use CAN.

This may not be entirely true. While the new system does have a PCM module that automatically controls the compressor/pressure switch and has support for 8 solenoid channels.

Nothing stops you from using the 4 relay ports on the RoboRio to drive solenoids. Without needing to have a PCM.*

You can use One relay for the compressor, and 3 other relays for double acting solenoids. In fact, this is how we were running our pneumatics system using the RoboRio during Alpha testing when the PCM modules weren't supported yet. Only if you exceed 3 double solenoids, would you need to venture to use the CAN PCM module.

And even if you use the CAN module for pneumatics, that doesn't mean you can't or shouldn't use PWM. In fact, I believe most veteran teams will continue to use PWM on their drive train as a minimum despite the new control system, due to PWMs proven reliability and known failure modes. I believe this will be true even if they choose to use CAN motors elsewhere on their robot. Nothing currently prevents a mix use of CAN and PWM on the Robot.

*This is true as long as the 2015 rules do not prohibit this. Doing this is perfectly legal under 2014 rules.

Regards,
Kevin