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- On slide 24, it is said that you need to connect CAN if you want current-related data. It is required to connect CAN to the PDP period. This is how battery voltage shows up on the DS and I believe a robot will not pass inspection without it.
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Definitely need to wire PDP to canbus to get it's current values, unless you plan on getting them from TalonSRX instead over CANbus (which is a bit more accurate).
DS batVoltage actually comes from the RIO. You can additionally read the PDP's report battery voltage through robot API and RIO-web-based config.
PDP required for inspect was true last season. Won't know for sure for next season until kickoff.