Encoders and CANJaguar

We have always been using pwm with the jaguars and I was wondering what difference does CANJaguar make than using PWM. I also saw that some teams are using encoders, I’m not sure if all it does is tell you how many revs the motor has spun or something else too?

I’d love to know all the pros/cons in using CAN or PWM. And also whether or not how encoders are useful.

I’ll probably be using PWM with an encoder.
And you should check out the javadocs. Essentially, encoders do simply record RPM. There are methods that go only slightly beyond this.