[dyanoshak]

When using Servo PWM or CAN to control a Jaguar, the Limit Switch inputs always stop their corresponding direction when the circuit it open.

It is my understanding* that the reasoning for this rule is that you cannot read the state of the limit switch inputs with the cRIO when using PWM. Not having the ability to know the state of the limit switches could potentially lead to undesired behavior.

When using CAN, the cRIO can request the state of the limit switches so it knows what is going on with a particular Jaguar.

*My understanding does not represent the intent of the GDC. So to get an official answer to this question, you should ask the GDC on the Q&A.