Quote:
Originally Posted by MikeDubreuil
I would love to hear the explanation from FIRST why you can't use I2C on the Sidecar.
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My guess is that they want you to use the capability of the cRIO only, no extra processing. That makes you maximize the power of the cRIO (could be driven by NI)
Quote:
Originally Posted by MikeDubreuil
Quite frankly- unless someone can point to a specific rule against this I would ignore the forum post. Forum posts are not rules. The rules are in PDF form in the 2009 FRC Manual. Team updates make modifications to the rules. Forum posts only provide clarification for you to use during design or to provide to robot inspectors to certify your robot is in compliance to a rule. |
Specific rule(s)
<R66> Inputs to custom circuits can be connected only to the following sources:
A. Power Distribution Board protected 12Vdc outputs
B. Speed controller outputs,
C. Relay module outputs,
D. Analog Breakout outputs,
E. Digital Sidecar PWM, relay or digital outputs,
F. Other custom circuits, or
G. Switches, potentiometers, accelerometers, sensors, and other additional permitted
electronics.
<R67> All outputs from sensors, custom circuits and additional electronics shall connect to only the
following:
A. Other custom circuits, or
B. Input/output ports on the Digital Sidecar, or
C. Input/output ports on the Analog Breakout.
If it's not on the list, it's off limits. That's why I said that the rules prohibit using the camera.
I do see a contradiction though. I think the I2C is described under <R67> B. Input/output ports on the Digital Sidecar.
So under that interpretation, outputs from sensors, custom circuits and additional electronics CAN be connected to the I2C.
If you consider the I2C to be a digital output <R66> allows you to use it for output as well.
Someone really should ask for clarification in the Q&A. It seems to be a contradiction.