[Ari423]

Originally Posted by Abrakadabra

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.

Can't you do the same thing with one CAN run from the RoboRIO to the PDP? The CAN line would even have built-in termination at the PDP. No need for fancy CAN motor controllers if all you need is simple voltage control, and you can still have your current monitoring.