I'm one of the team mentors for FRC 4386.
We would like to use CAN Talon SRX controllers this year. We've always used PWM previously and I just can't seem to get my head wrapped around how CAN works.
Specifically I'm having trouble even just declaring motor controllers and the setup and initialization code in the drivetrain subsystem.
I've searched and just can't seem to find any code examples or documentation on how to get off the starting line, so to speak. If anyone out here can help me find some code examples or a good explanation of implementing CAN at the code level it would be greatly appreciated! We are also planning to use a Mechanum drive so any examples that you can point me to using that would be extra helpful.
Thanks!