Quote:
Originally Posted by PortugazD.Ace
The only rules for custom electronics are that the circuit cannot interfere with another teams robot in any way, shape, or form. that and the electronics cannot be outside of the robots footprint.
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<R03>
Custom circuits and COTS electronics are expressly PROHIBITED if they:
A. Interfere with the operation of other ROBOTS.
B. Directly affect any output devices on the ROBOT, such as by directly powering a motor, supplying a PWM signal directly to a speed controller or supplying a control signal directly to a relay module (see Rules <R63> and <R64> for the specific exception regarding CAN-bus devices).
<R50>
Custom circuits shall NOT directly alter the power pathways between the battery, Power Distribution Board, speed controllers, relays, motors, or other elements of the robot control system (including the power pathways to other sensors or circuits). Custom high impedance voltage monitoring or low impedance current monitoring circuitry connected to the ROBOT’S electrical system is acceptable, because the effect on the ROBOT outputs should be inconsequential.
8.3.8
Custom circuits may be used to indirectly affect the robot outputs by providing enhanced sensor feedback to the cRIO-FRC to allow it to more effectively control the ROBOT.
<R68> All outputs from sensors,
custom circuits and additional electronics shall connect to only
A. other custom circuits, or the following:
B. additional COTS electronics, or
C. input ports on the Digital Sidecar, or
D. input ports on the Analog Breakout, or
E. the RS-232 DB-9 serial port on the cRIO-FRC, or
F. the Ethernet bus connected to Port 2 of the cRIO-FRC, or
G. the CAN-bus if and only if all Jaguar speed controllers on the CAN-bus are wired in full compliance with Rule <R63> and Rule <R64>, or
H. the sensor inputs on the Jaguar speed controller.
Custom circuits and additional electronics are allowed to utilize the Port 2 Ethernet bus and/or the CAN-bus to communicate between devices. Note however, that the ROBOT must be controlled by the cRIO-FRC (see Rule <R56>). Thus, any additional devices on the Ethernet or CAN-bus must not provide command signals that do not originate from the cRIO-FRC It is our intent to incrementally open access to the full control system technologies in a controlled manner that reduces the risk of “unanticipated surprises” as we gain experience with the system.