CAN connection on roboRio.

Technical CAN
1

This is my first year on the Robotics team. I have familiarized myself with the RJ12-Serial connection for the CAN BUS on the cRio.
I was wondering how CAN will work on the new roboRio with Jaguars, since there is no serial port.
Do I only use the CAN - H and CAN - L wires of the RJ12 cable and connect it to the RoboRio?
Should I use a a different gauge wire to connect the wires to the roboRio? If so, would it cause bottle-necking?
Would I need a terminating resistor on the roboRio, or does it act like one itself?

Thanks.

2

The implementation of CAN on the RoboRIO only uses CANH and CANL. The RoboRIO has an integrated termination resistor.

3

Would the 2 wires be able to fit the connectors, or should I use a different gauge wire?

4

The roboRIO has 2 serial ports, but it also has a dedicated CAN interface, so you should certainly use that instead of the serial ports for controlling Jags.

5

The CAN connectors on the 2015 system fit 16 to 24 gauge wire.

6

The JAGs have a built in RS232 port that is on the same receptacle as one of the CAN bus ports. Since the RoboRio has a CAN port you will not use the RS-232 port on the JAG. So yes, wire the Can H & L to the jags & ignore the RS-232 port on the Jag. Just like the Jags on the old system that was not directly connected to the Crio.