[adciv]

While we haven't been testing CAN motor controllers under the beta system, we have used it with the PDP and PCM. I think you should forget about past experiences with CAN. Under the new system, it is EASY. I've been able to trivially add/remove a 2nd PCM on CAN. There really is no comparison between these new components and the troubles we've had trying to use JAGs in prior years.

Other thoughts:
- Even if you don't use the PID on the Talon SRX, you get the simpler CANBUS wiring if you use it over CAN.
- You can still control the Talon SRX over PWM and change to CAN next year.
- We've used PID over PWM for several years and 20ms is a faster rate than we've needed to run our control loops at, so don't worry about the differences in update rates.