使用CAN设备

CAN has many advantages over other methods of connection between the robot controller and peripheral devices.

  • CAN连接以菊链的形式连接设备,这种方式与将每个设备都连接到RIO上的接线时间短得多。

  • Much more data can be sent over a CAN connection than over a PWM connection - thus, CAN motor controllers are capable of a much more expansive feature-set than are PWM motor controllers.

  • CAN连接是双向的,所以CAN电机可以把数据传回RIO,因此CAN电机比PWM电机可以拥有更多的功能。

For instructions on wiring CAN devices, see the relevant section of the robot wiring guide.

CAN设备通常在WPILib中拥有自己的类。以下几节将介绍这些类的用法。