This coming year our team plans to use mostly Talon SRX controllers as our main motor controller on the robot. We’ve got the stock and we are excited to use them! In the past the mess of PWM wires going back to the roboRIO or CRIO has been atrocious. We hope that by leveraging the use of the CAN bus for the motor controllers, we can have less of a rats nest of wiring. This being said, the lack of modularity is a bit concerning. In the past, if we were to spit a motor controller somehow, we would simply disconnect the power connector and the PWM cable and switch it out. With the twisted pair and daisy chain style of wiring with the CAN interface on the Talon SRX’s, this isn’t as easy assuming that we solder the CAN wires together. I’d like to put some type of connector between the CAN connections, but what should I be using? I know that there needs to be so many twists per unit distance so should I not use a connector between the daisy chained controllers at all? I just have concerns about being able to switch the controllers out. I’d prefer not to have to snip wires all the time. I’m open to all suggestions!