Whether or not you agree with the ruling, it was obviously the intention of the GDC from the outset. If you read the blue box in the referenced rule, you will see that they knew they were disallowing features, and that they intend to open these features gradually, maybe next year? It should be noted that this wording is identical to last year, so it is not a step backward. Both years state that
"Thus, any additional devices on the Ethernet or CAN-bus must not provide command signals that do not originate from the cRIO-FRC" If you offload the PID to the Jag, the Jag is providing the command signals, not the Crio. So, if you did it last year, you got away with a rule infraction. I also agree that it will be almost impossible to enforce. Reviewing the code of every robot is not an option.
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Custom circuits and additional electronics are allowed to utilize the Port 2 Ethernet bus and/or the CAN-bus to communicate between devices. Note however, that the ROBOT must be controlled by the cRIO-FRC (see Rule <R49>). Thus, any additional devices on the Ethernet or CAN-bus must not provide command signals that do not originate from the cRIO-FRC It is our intent to incrementally open access to the full control system technologies in a controlled manner that reduces the risk of “unanticipated surprises” as we gain experience with the system.
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