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Originally Posted by Bkeeneykid
Well for one, that's not FRC Legal. *Standard warning about 2016 rules may not apply to 2017* See rule R70:
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Each Jaguar or Talon SRX must be controlled with signal inputs sourced from the roboRIO and passed via either a PWM (wired per R68) or CAN-bus (either directly or daisy-chained via another CAN-bus device) signal, but both shall not be wired simultaneously on the same device. If the CAN-bus configuration is used, the firmware on the device must be updated to at least the following versions:
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You can only either directly connect to the roboRIO or daisy chain through another device. |
Not suggesting that a star topology is the better way to go, but the way I read R70 it would be legal. Each Talon is connected directly to the roboRIO, and no Talon has both PWM and CAN running simultaneously. The rule never says that the tree can't branch out, only that each "leaf" (Talon) must be connected to the "roots" (roboRIO) either directly or through a daisy-chain. Let me say it again: not better, but legal (according to me, who has absolutely no bearing in what is actually considered legal)