[Jeremy Germita]

I plan on using the CAN bus this year for several reasons:

1. It simplifies wiring. I like the idea of one cable going from the cRIO to the motor controller as opposed to 3 or more cables leading from the DigitalSideCar to motor controllers. Our coach and pit crew leader like the "click" that comes with plugging it in. This ensures that it is locked in place.

2. Enhanced feedback from motors. I would like to utilize the current sensing capabilities of the Jaguars without wiring a separate sensor. To tie in with the above point, I can now route the encoder wire to the motor controller, as opposed to cutting, extending, and crimping the wire to the digital sidecar. I have also read that the jaguar can handle the PID loops, leaving the cRIO to do more important things, like image processing.

3. Success with using this system last year. Depsite minor problems, The three programmers on the team enjoyed using it. Use of this system led to the acquisition of the Rockwell Collins Innovation in Control Award @ Arizona
In the past, we used the current sensing capabilities to sense a ball in our pinch roller, and during testing to determine that we were pulling 60+ amps while climbing the bump.

Despite the little problems, I definitely recommend that your team uses the CAN bus