[Jon Stratis]

First, I wouldn't let programming experience keep you from using CAN - it really is just as easy as using PWM. Besides, if you end up using pneumatics, you'll be using CAN for that! It really is rather simple, you just have to give it a go... and having Talons on hand will allow you do experiment with that.

For PID... it takes some time and effort, regardless of doing it through the Talon or through the RoboRIO. The choice of speed controller here isn't nearly as important as spending the time to figure out how it works and how to tune it. For this, I recommend going with the RoboRIO approach, I personally think it's a little easier to figure out whats going on as you tune it.

If you're building two robots, why not use old controllers for the second one? Take them off an old robot, and have at it - the size difference may mean you team has to get creative in mounting things for the second robot, but there isn't much reason to spend all that extra money just for the second robot - old Talon, Jags, or Victors will do the same job. Of course, if you want the extra controllers for backups at competition, that's a whole other issue.

Also, while I think you probably know this, stating it clearly for others reading the thread: The new Talons, while supporting and working over CAN, can also be controlled over PWM.