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Re: PWM
Really you should only have one device per power input/output. The rules read specifically on Jaguars that you cannot connect any other devices to a Jaguar PWM port. This really applies to all large motor controllers like Victors and Talons at inspection. My initial response is that you try to use only one power slot. I have yet to see an official ruling on motor control PWM splitters but I try to stay on the safe side.
I can see two reasons why you would need splitters. Either a) the programmers can't get 4 PWM ports to open, or b) you are running out of PWM ports or wire space on your robot. If the former, tell the programmers to use an open 4 motors block in the WPI robotics library. If the latter, there are several things you can try. First, make sure all motor outputs are on the open side that says PWM OUT and that all digital sensors are on DIGITAL I/O ports. You should have 14 of each, which I have personally found quite enough. If it isn't though, you always have the option of a second digital sidecar. If you don't have the crio slots or the board space, however, I would then try the splitters. Note: by splitting PWM signals you may be increasing the risk of magnetic interference from your other electronics.
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