[GeeTwo]

Originally Posted by Al Skierkiewicz

Any speed controller that has a brake/coast jumper can have that jumper connected to a digital I/O and be controlled in software. We have done it many times in the past.

Wouldn't this violate both R66 and R68?

Originally Posted by R66

The Driver Station software, roboRIO, Power Distribution Panel, Pneumatics Control Modules, Voltage Regulator Modules, RSL, 120A breaker, motor controllers, relay modules, Wireless Bridge, and batteries shall not be tampered with, modified, or adjusted in any way (tampering includes drilling, cutting, machining, rewiring, disassembling, etc.), with the following exceptions:

• A. User programmable code in the roboRIO may be customized.
• B. Motor controllers may be calibrated as described in owner’s manuals.
• C. Fans may be attached to motor controllers and may be powered from the power input terminals.
• D. If powering the compressor, the fuse on a Spike H-Bridge Relay may be replaced with a 20A Snap-Action circuit breaker.
• E. Wires, cables, and signal lines may be connected via the standard connection points provided on the devices.
• F. Fasteners (including adhesives) may be used to attach the device to the OPERATOR CONSOLE or ROBOT or to secure cables to the device.
• G. Thermal interface material may be used to improve heat conduction.
• H. Labeling may be applied to indicate device purpose, connectivity, functional performance, etc.
• I. Jumpers may be changed from their default location.
• J. Limit switch jumpers may be removed from a Jaguar motor controller and a custom limit switch circuit may be substituted.
• K. Device firmware may be updated with manufacturer supplied firmware.
• L. Integral wires on the Victor SP or Talon SRX may be cut, stripped, and/or connectorized.
• M. Devices may be repaired, provided the performance and specifications of the device after the repair are identical to those before the repair.
• N. The cover may be removed from the Talon SRX data port.

Bullet I says that you can move the jumper, not replace it with a cable.

Originally Posted by R68

Every relay module, servo, and PWM motor controller shall be connected to a corresponding port (relays to Relay ports, servos and PWM controllers to PWM ports) on the roboRIO (either directly or through a WCP Spartan Sensor Board) or via a legal MXP connection (per R69). They shall not be controlled by signals from any other source.

As I read this, the DIO is not a legal way to control a PWM motor controller.