[timytamy]

On another project, we're actually moving from a 100% daisy chain CAN bus to one with some minor stubs.

The most important thing is to make sure that you keep the stub lengths as short as possible. In fact, even with the current daisy chain implementation, you'll find that there is a very short stub length inside the node (between the CAN transceiver and the tracks between the two CAN cables). We're using <300mm for stub lengths on a bus that goes ~10m. There is only two termination resistors in this configuration.

It can be done, in our case it's to allow greater flexibility in pulling out nodes and to clean up wiring. Realistically you should think about the benefit from a star topology and try to work out other ways of achieving that. For robustness, the cables on the Talon SRXs are long enough that you can probably solder the ends together (and heat-shrink), and just cut them off when they need replacing. There are plenty of splice crimps or BP style connectors that can be used quickly in a competition, and a quick wrap of tape will make them quite reliable. This only really leaves the roboRIO, PDP and PCM. Getting really good at the weidermuller connections is one of the only options here (especially for the roboRIO).