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Originally Posted by taichichuan
Geez. This is a really unfortunate answer from the GDC.  It greatly complicates the cabling and increases the complexity of closed-loop control. Now, we're going to have to run another set of cabling... Sigh.
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Can't the encoders still be connected to the Jaguar?
The only rule restriction is that commands must come from the cRio.
The cRio can read the position (or speed) from the jaguar.
PID (or other closed loop control) can be calculated on the cRio.
Then the calculated voltage can be sent to the jaguar.
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Originally Posted by FRC GDC
There is no rule that prohibits the Jaguars from reading the values from the encoders, however note that Rule R49 requires that the ROBOT must be controlled by the cRIO. In other words, commands may not originate in the Jaguar or any other controller, they must originate in the cRIO.
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