[Al Skierkiewicz]

Guys,
There is no rule that prevents this use of the Brake/Coast jumpers. R66 lists allowed modifications to electrical components. The removal of a jumper and the connection to a DIO output is what was intended by the manufacturer starting with the Victor 883 and has been allowed since that device was introduced in FRC robots.
The bullet that refers to the limit switch input on Jaguars has a history to their first introduction and the firmware that was used at that time. To make it clear for present day users, Bullet J was added.
R68 has no bearing on the Brake/Coast jumper. R68 requires that all PWM controls originate in the RoboRio directly or through the listed MXP devices to insure that FMS will stop all motors used on an FRC robot when so commanded.