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Re: Two drive motors
Since you're using SRX's, I would definitely recommend switching to CAN bus. We used PWM last year (rookie season) with Victor 888's and had some significant issues with it. I think we ended up having to "borrow" two y-cables from other teams at our regional, because ours broke and we had no extras.
CAN has some obvious benefits, like simpler wiring and that you can get temperature and current output data back from the motor controllers.
Switching from PWM to CAN is also quite simple. It took us maybe an hour or two to figure out how to program, and the wiring is easy. It also worked on the first try, which hardly ever happens for me.
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