[Chadfrom308]

Honestly, I think our team is going to do some CAN this year (our first year doing it too). Not only is it GREAT experience to have, it also isn't too hard. I worked with a CAN shield for Arduino, and I can say that it was much simpler than I expected it to be. It is also less cluttery than running PWM to everywhere. Plus, offloading PIDs to a Talon can save some CPU resources, which is not much, but it also can run PIDs much much faster than the RoboRIO (20hz vs 1000hz) (correct me if I'm wrong, I actually want to know the correct numbers)