[ozrien]

Also good catch on the Jags. You don't need a 2CAN to use Jags with roboRIO+CAN. The robotAPI was updated last year to use the onboard CANbus for Jags as well.

In other words, the differences in comms between RIO<=> Jag and RIO<=>TalonSRX is handled in software. Sorry Mike if that point wasn't communicated better. As much as I liked the 2CAN, we were very happy last year with integration of CANbus in the RIO (best for teams).