CAN for dummies

[daniel_dsouza]

Wow, my first thread on CD!

My team wanted to investigate the CAN interface, and I had a few questions. I already read some of the other “getting started” threads, and the associated files. If I make any technical mistakes, don’t hesitate to correct me, as I am new to some of the terms.

1. Could someone tell me how I should set the PID if I use Position mode?
2. If I wanted to control a robot in autonomous mode, should I use position or speed?
3. If I wanted to control a robot in teleop mode, should I use position, speed, or PercentVbus?
4. Is there any difference between 2CAN and connecting the black jag to the cRIO serial port?
5. We “misplaced the encoder from the KOP”. What was the original part number, or what would be a good replacement?
6. Is there any maximum limit to the quantity of Jaguars as far as FIRST hardware goes?
7. Let’s say I don’t mind spending $25, are the cables from here worth that much versus making my own cables?
8. Is there anything else I should know?

If it makes any difference, our team programs in Java.

Thanks in advance!
-Daniel