While I'm inclined to say this this is allowed, my only reservation is with
R67. It's specific to Jaguars. Item B states:
Quote:
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PWM configuration: If the Jaguar motor controller is controlled via PWM communications, the PWM port on the Jaguar motor controller must be connected directly to a PWM port on the Digital Sidecar with a PWM cable. No other device may be connected to these PWM ports. No other device may be connected to any other port on the Jaguar motor controller with the exception of connection to the coast/brake port or the limit switch ports.
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The "directly" bit has me confused. I'm not sure what they are trying to prevent from happening here. Further, this rule only applies to Jaguars, so it would seem there's a specific concern with them. I would be surprised if they were actually trying to prevent PWM Y cables from being used as you have described.
It might be worth asking a question on the Q&A, as I wouldn't expect the use of PWM Y cables to be prohibited with any of the motor controllers.
FWIW
Section 4 of wpilib screensteps live shows them being used with Jags...