[Jared Russell]

I wouldn't dismiss CAN outright in 2016. Many of the horror stories happened years ago, when the *rio CAN software stack was less mature, CAN speed controllers were less mature, termination resistors were not built into the control system, high quality FRC-oriented reference material was not available, and a trustworthy vendor like CTRE was not yet staking its reputation on a working CAN solution.

All those things have changed since 2012, and many teams ran CAN-only control systems successfully in 2015. As a result, this is the first season that CAN is a viable option for 254.