In 2015, 3467 also went whole hog with the Talon SRX - we used one running the built-in Speed Control mode for each of our four mecanum wheels, and two (1 master, one slave) for driving our elevator with Positional PID. One of our mentors insisted that the built-in PID algorithm could be faster (he was looking more for a motion-control mode), but it all worked well enough with a minimum of muss or fuss.
Plus - One of the often overlooked advantages of CAN control is built-in current sensing on each motor - granted it wasn't really that useful last year (unless maybe when we were building a twelve stack
, but in a defense-heavy game, or a game where climbing might be required, being able to monitor current at the individual motor level might help to intelligently avoid those brown-out conditions that we were all worrying about around this time last year.