[Jon Stratis]

I think the rules make the assumption (perhaps poorly) that a team will use one or the other. However, the intent of <R63> is stated in part A - each Jaguar can only use one. There are potential issues if you have both CAN and PWM hooked up at the same time (what do you do if the robot receives conflicting signals?) and FIRST wants to avoid them. There is absolutely no technical or safety reason why you couldn't use both methods on different Jaguars on the same robot - if you had 2 wired up for CAN and two wired up for PWM, it would be perfectly safe and controllable.

That being said, i would agree that there is a little ambiguity in part C, which seems to indicate that, if one Jaguar uses can, all of them must. I would recommend submitting a question on this to the GDC, and allow them to clarify the rule.

That being said, we're using Jags for our drive motors (4) and Victors for the CIM winch motor and a FP motor powering the "ball magnet". And finally two spikes for the window motors powering our kicker.

Edit: Russ seems to have beaten me to it and provided the answer. Both are allowed, so long as they aren't hooked up to the same Jaguar.