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Re: What is CAN?...
CAN is a low-speed (<1 Mbps) serial bus that is used primarily in newer automobiles, but also in other imbedded applications (including FRC robots). CAN provides a simple, standardized communications interface between the cRIO and Jaguar speed controllers.
The advantage of using CAN in FRC robots is not just the simplified (daisy-chain) wiring, rather it is access to the intelligence provided within the Jaguar controllers. The FRC controls architecture allows PID control to be distributed to individual motor controllers. Speed, position, current (torque) control can be off-loaded from the cRIO to Jaguars with feedback sensors (encoders, potentiometers, etc.) directly connected to the Jaguars. I suspect this advantage will be more widely recognized and utilized by FRC teams next year.
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"There's never enough time to do it right, but always time to do it over."
2003 AZ: Semifinals, Motorola Quality; SoCal: Q-finals, Xerox Creativity; IRI: Q-finals
2004 AZ: Semifinals, GM Industrial Design; SoCal: Winners, Leadership in Controls; Championship: Galileo #2 seed, Q-finals; IRI: Champions
2005 AZ: #1 Seed, Xerox Creativity; SoCal: Finalist, RadioShack Controls; SVR: Winners, Delphi "Driving Tomorrow's Technologies"; Championship: Archimedes Semifinals; IRI: Finalist
2007 LA: Finalist; San Diego: Q-finals; CalGames: Finalist || 2008 San Diego: Q-finals; LA: Winners; CalGames: Finalist || 2009 LA: Semifinals; Las Vegas: Q-finals; IRI: #1 Seed, Finalist
2010 AZ: Motorola Quality; LA: Finalist || 2011 SD: Q-finals; LA: Q-finals || 2013 LA: Xerox Creativity, WFFA, Dean's List Finalist || 2014 IE: Q-finals, LA: Finalist, Dean's List Finalist
2016 Ventura: Q-finals, WFFA, Engineering Inspiration
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