[EricH]

Originally Posted by Ether

Does <R60> prohibit connecting wheel speed encoders directly to the Jags and using the built-in PID controller in the Jags to control wheel speed or position ?

I was under the impression that some teams did exactly that this year. Could be wrong.

It does. <R60-L> only allows custom limit switch circuits (replacing jumpers), and only on the CAN-bus.

My guess is that a) somebody messed up at inspection or b) you misheard/misread something.