Quote:
Originally Posted by Chief Hedgehog
Newbie here - can you explain 'CAN' please?
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CAN is an alternate (and some might say better) system for controlling motors. Rather than being a 1-way, 1-cable-per-controller loop like PWM, its a network setup.
The controllers are daisy chained with CAN cables and the last one is terminated to signify the end of the chain. Each controller is assigned a unique ID, and command and control packets are sent with this ID. Only 1 cable leaves the cRIO or roboRIO for all the CAN controllers.
The advantages are more precise control, wiring can be easier, and it allows you to use more of the on-board sensor inputs and outputs from the Jaguar rather than simply setting it to a PWM percentage. You can choose things like set by voltage, current, RPM (with sensors), etc.
The disadvantage is that you can only use Jaguars rather than Talons or Victors, and it is more difficult to program. There is some debate over if it has a higher rate of problems vs PWM, and can get 'stuck' if a node goes offline.
Reply to this or PM me if you have more questions, I'll do my best to answer them or refer you to someone more knowledgeable.
I have long since given up on these hints, and come to the conclusion that they are designed to befuddle us all and amuse Dave. - Rickertsen2 [more] 
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