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Unread 24-11-2014, 15:30
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Re: CAN - what, why, how in 2015

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Originally Posted by James3245 View Post
So every team using pneumatics will be using CAN by necessity, is what I gather.
There's nothing in the system that prevents using the relay outputs on the RoboRIO to control Spikes to drive a compressor and solenoids. I expect the rules will require using the PCM for the compressor, though.

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And some of the new motor controllers, should they be approved, will use it.
Jaguars already use CAN, but they're discontinued and sold out.

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If CAN is built into the power distribution panel does than mean every team will be able to monitor current on the driver station, whether or not they have other devices set up in a CAN network?
That's the goal.

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("CAN network" I assume is redundant like "ATM machine" is redundant...)
"CAN network" really isn't used to describe the system; "CAN Bus" is the preferred term (and it isn't redundant).

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And by monitoring current, do we mean the current of individual circuits that connect to the PDP?
Yes. The breaker outputs are numbered 0 through 15 and current for each is individually accessible.

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Perhaps a dumb question, but I'll ask it: Is CAN limited to monitoring/gathering/sending data? How does it differ from PWM in terms of controlling devices?
PWM is unidirectional and for one type of data only. CAN is bidirectional and can send multiple types of data.

PWM speed controllers only respond to the pulse-width that tells them what proportion of input voltage to send to the motor/load. CAN speed controllers can receive different types of commands (voltage vs. current control or whether or not to use closed loop sensors) and send various types of data back to the robot controller, as well.
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Last edited by cgmv123 : 24-11-2014 at 15:33.