CAN Jaguar Wiring with RoboRIO

[Joe Wilson]

We are looking into using our team's old Jaguars this year, and are thinking of switching over to CAN. With the new dedicated CAN port on the RoboRIO, I'm a little confused about the wiring.

It seems that previously, a CAN bus would contain 4 wires (+, 2 CAN, and Ground) which would connect the 6P4C plugs on the Jags.

Now the CAN signal out of the RoboRIO comes on just the 2 CAN lines. Will we need to just plug these two into the 6P4C plug without any + and ground lines, or do those need to come from the PDP for the first Jag in the line?

Thanks
-J