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The team this year maybe going over the 10 PWM ports on the main breakout of the Roborio. They are planing what channels the motors and servos will be assigned to to be sure they have enough. Quite possibly they will be using a few small RC-servos to preform some small tasks along with the usual Talons ect.

R54 states servos MUST be connected to the PWM ports on the roboRio and MUST NOT connect to the MXP unless using a WCP Spartan Sensor Board.

R69 states if a motor is controlled via the MXP its power regulation device must be connected by one of the following: a: directly to any PWM pin, B..., C...

I understand a Motor is different than a Servo.

1. Is a motors power regulating device the Talon or speed Controller?

2. should the team just plan to put servos on the PWM breakout pins first and any over flow speed controllers directly to the MXP?

3.a. Does the MXP PWM pins simply not have the driver circuit to run a servo since they are multi purpose?

3.b. Does a WCP Spartan Sensor Board have special singnal conditioning ie logic shifting to protect what ever is on the other side of the MXP