[GreyingJay]

I am not familiar with the previous years' issues with CAN, but we had a Talon SRX in CAN mode on last year's robot and it was easy to wire, easy to program, and worked fine. Granted, we used it in the simplest possible way, no PID, no sensors.

In theory wiring up a bunch of Talon SRX's in CAN mode is dead easy. You need to assign them CAN bus IDs the first time around, but after that, addressing them in the code is also just as easy. And then when it's time to do PID and limit switches, boom! Easy.

In theory.

I'm slightly nervous about the various horror stories I've heard, but our team will probably give CAN a serious attempt this year. We can always fall back to PWM.