[apalrd]

Before you ask how to connect CANbus, think if you need CAN. What does it give you that you can't already get? You can already do feedback on position or speed with the cRio, and get open voltage control, using PWM. CAN provides you with constant current control and feedback on current usage, which may or may not be useful. Unless you really really want constant current control, you don't need CAN. And, if you are using it for position feedback, all it provides you is code implemented to do PID. You can already use LabVIEW PID to do it easily. Either way you still have to tune the gains, which is probably the hardest part. If you don't understand what advantage CAN gives you and don't know if you need it, you probably don't. We decided this year that we would rather use the IFI Victors because they are far more reliable than the Jaguars (we had 12 Jaguars on last years robot and more failures that year then the past few years combined), and we don't need any current control.