Bullet J of R66 refers specifically to the limit switch jumpers, not the brake/coast jumper. Applying bullet E assumes that a jumper pin is a
standard connection point, which isn't clear. The other arguments don't convince me either, though this is a case where I'd like to be wrong; it would have provided a simple solution to a design problem a few years ago, but I thought it illegal. I have asked about this on the Q&A.
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Originally Posted by Q646
In this post: http://www.chiefdelphi.com/forums/sh...81&postcount=3 and following, it is suggested that the brake/coast pin of a PWM-controlled motor controller may be wired to a control signal from the RoboRIO's DIO port. I read this as a violation of R68, and as a modification beyond the wording of R66, especially bullet I. Others there see it as legal. Is this practice permitted? If allowed, I suggest providing clarification in the rules as to how to wire this safely. |
Second Edit: I'll also post the answer here to close the loop for future generations.