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Originally Posted by s0crates
I think you may be missing the (hidden) easiest route: the jags have built in ports for limit switches.
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Those ports are off-limits this year.
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Admittedly, it is a pain in the posterior to chop up the pwm cables to make a 2-pin connector at one end...
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Two-pin connectors came in the Kit of Parts this year. They're perfect for the Robot Signal Light connection.