CANSparkMax

[isaacpatton72]

This task requires understanding the CAN protocol as you will be required to write a class for the CANSparkMax that can publish and read data from the CAN network using the Rx and Tx lines of the communicator class in Taproot. Additionally, you may have to modify the CAN handler class that keeps track of all of the devices on the CAN network so that it can accept objects that are not DJI motors so that it doesn't throw errors when it receives nonstandard Identifiers from the Spark Maxes. This can be done by creating our own local version of Taproot that overwrites the specific existing parts of Taproot that become problematic which may be a bit tedious but shouldn't take to long as a large portion of Taproot is very much modularized. We also may not be required to do this depending on how the existing framework behaves. Otherwise, there might be a way to fork taproot while still maintaining future developments from the main ARUW taproot branch. The ladder may be the better option but may require more work (it would make future development a bit more straightforward and less convoluted if it can be done).