CAN bus With Mechanum drive system

[Biolore]

So, my team has decided to switch to java this year, so I'm not great. We are going to use a mechanum drive system, which was easy enough, but one of the team captains wants to use the CAN-bus. Does anyone know of any examples I could look at?

[rudun]

There is already code written into mechanum to make it sync using CAN.

[Doc543]

Where is that code? I would like to take a look at it too.

[jhersh]

Originally Posted by Doc543

Where is that code? I would like to take a look at it too.

It is in WPILib in the RobotDrive class.