Wiring CanCoders

Technical Electrical
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My team is trying out swerve drive for the first time, and we have the modules built and the CANcoders mounted. However, we do not know how to wire it. Could someone please provide an electrical diagram for swerve drive with Falcon 500 motors?

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In what way are you confused about exactly?

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We do not know how to wire the CANcoders to the motors and PDP

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For CAN, you daisy chain it like you normally would.
For Power, you can use 2 5-port wago connector, 1 for power and 1 for ground. Then you can power it using a 5 amp fuse/breaker.

Sorry, I don’t have a diagram; that’s how I normally explain it. I hope it helps a little bit!

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5

We have used either the rev mini power modules -

Or these distribution boards from Amazon - https://amzn.to/476RlSl

For powering cancoders, and then the CAN is daisy chained or we use a 2 to 6 lever but to connect to the can bus.

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Cancoders can be powered directly from either the PDP or PDH, which is probably the simplest/easiest way to power them. Since each cancoder only draws about 50 mA, its usually best to combine the power and ground wires for all of the cancoders, and just plug all of them into 1 slot. This will save you slots on your PDP/PDH, and its totally fine since the cancoders don’t draw enough current to need their own slot. Also make sure to use a pretty small breaker, 5-10 amps is more than enough. To combine the wires, you can either use wagos, or solder the 4 wires together (which is what my team does). If you want to use wagos, the connecter recommended by @TFM110 is probably the best choice.

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