Programming CAN vs. PWM in C++

Hello, I have a question of what is the main difference of programming CAN and PWM on a robot in C++. We have worked with PWM beforehand, so CAN is new to me. More specifically, the Speed Controller we are using is a Talon SRX, where we used Victor SPs before. Any changes that I will need to look out whilst coding? Thanks!

Programming wise there is not much different at all. You should be all good if you wire stuff up correctly.

Alright, thanks! I just wasn’t sure of the differences entirely.

The TalonSRX has a load of features you can use, such as onboard PID. If you aren’t using those features, you should buy cheaper motor controllers.

We plan on using it for the encoders.