[adciv]

I recommend either the Talon SRX or the Victor SP. They are particularly useful due to the mounting options available and their reliability. We mounted our four drive Talons in an out of the way location by bolting them to the frame and didn't have any issues.

As for which to get, start looking a few years down the line. Yes, CAN is more expensive but it does buy you a few things with feedback and wiring. Figure out which route you want to go and start purchasing those a few at a time. Also, remember you can run Talon SRXs over PWM, not just CAN.