Chief Delphi - Regulating power to a servo with a relay

You might want ask the Q&A if retract servos are legal. After the Jaguar PID is illegal fiasco, I think retract servos might technically violate <R49>.

When the cRIO is in disabled mode (no PWM signal output) the servo controller of the retract servo still tells the motor to move to & hold a position. Positional and rotational servo are undriven when the cRIO is disabled.

It is perhaps a trivial violation of <R49> and poses no more of a safety threat when disabled than a spring return solenoid returning to its home position. However, the bulk of the control system rules are designed to ensure that once a robot is disabled, all motors and actuators are inactive.

[EDIT] Well you don't need to ask Q&A if you don't plan on using the retract servo. You might want to make sure the next servo you get is a 6V version (as you know the retract servo webpage has this warning "Do not use with 6V systems. Only use 4.8V.") I am not sure the PWM outputs on the sidecar supply 5V (since the speed controllers don't need it). I think the jumper is just to switch the middle pin between 6V for servos and not connected. Does anyone know the answer to this?[/EDIT]