If this is your first visit, be sure to check out the FAQ by clicking the link above. You will have to register before you can post by clicking on the Registration link above. To start viewing messages, select the forum that you want to visit from the selection below.
Lets start with the similarities, both of them allow for the control of the output voltage of a speed controller.
The differences are listed below:
* CAN is a serial bus, PWM requires a cable going from the DSC to each controller (Comparison diagrams can be found here: robotics.aca.imsa.edu/can)
* CAN allows for feedback from the controller on its status, PWM is a one way communication
* CAN allows for sensor processing directly on the Jaguar, PWM must be controlled from the cRIO
* CAN allows for closed-loop control on the Jaguar rather than the cRIO
These are just some examples of the differences, there are probably more I am forgetting.
As for which one you should use, it depends a lot on what you plan to do and how much experience you have. If you just need to control motors and haven't had much experience in wiring FRC robots and building their control systems, then I would suggest using PWM. If you have time to experiment, wanting feedback from the controller, wanting to have closed-loop control moved to the motor controller, or are willing to learn more complex systems, then CAN is a good choice.
Last edited by trekke20; 01-13-2011, 11:56 PM.
Reason: Fixed spelling error
The fundamental technical difference is that CAN is a packet-based protocol over a shared bus while PWM is just variable-length pulses being sent down the wire.
textnav - 2 second downloads, comments that stay with code, no more broken wires and annoying NXT-G problems - http://code.google.com/p/textnav2/
Lets start with the similarities, both of them allow for the control of the output voltage of a speed controller.
The differences are listed below:
* CAN is a serial bus, PWM requires a cable going from the DSC to each controller (Comparison diagrams can be found here: robotics.aca.imsa.edu/can)
* CAN allows for feedback from the controller on its status, PWM is a one way communication
* CAN allows for sensor processing directly on the jaguar parts, PWM must be controlled from the cRIO
* CAN allows for closed-loop control on the Jaguar rather than the cRIO
These are just some examples of the differences, there are probably more I am forgetting.
As for which one you should use, it depends a lot on what you plan to do and how much experience you have. If you just need to control motors and haven't had much experience in wiring FRC robots and building their control systems, then I would suggest using PWM. If you have time to experiment, wanting feedback from the controller, wanting to have closed-loop control moved to the motor controller, or are willing to learn more complex systems, then CAN is a good choice.
I loaded a Black Jaguar with v89 then switched back to PWM later without any issues..
We process personal data about users of our site, through the use of cookies and other technologies, to deliver our services, personalize advertising, and to analyze site activity. We may share certain information about our users with our advertising and analytics partners. For additional details, refer to our Privacy Policy.
By clicking "I AGREE" below, you agree to our Privacy Policy and our personal data processing and cookie practices as described therein. You also acknowledge that this forum may be hosted outside your country and you consent to the collection, storage, and processing of your data in the country where this forum is hosted.
Tweet
Comment