Controlling a SparkMAX using a Rasberry Pi 3

Technical Electrical
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Hello :upside_down_face:

I’m working on a non-frc project, I want to use my RPi3 to control a SparkMAX and receive feedback from a hex bore encoder; this seems to be possible using a CAN Hat (like this?) and running my CAN into it.

This seems simple enough. But, from another post,, it seems that the REV CAN Frames are confidential (hidden?). My question being, is it possible to control my SparkMAX and receive encoder values?

Running it over PWM, according to this post at least, wouldn’t give me any feedback from the encoder.

2

would it be easier to run it with pwm and connect the encoder directly to your pi?

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