My bad... Yup in section 4.10, R56, it is legal
Quote:
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There are no rules that prohibit co-processors, provided commands originate from the roboRIO to configure, enable, and specify all operating points for all power regulating devices. This includes motor controllers legally wired to the CAN-bus.
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So do most people use an Arduino? What kind, and does anyone have code to do this?
On the robot, can we use the 12V from the battery?