Need help with motor controls for window motors

[mjames708]

In deciding which motors we should use for a turret mechanism, our team (708) decided to go with window motors. However, we ran into a little snag: we aren't sure if we are able to use Vics or Jags for controlling a window motor instead of spikes. Our programmers hooked one up to a Jag, and they were able to get readings. We just aren't sure if under FIRST's regulations, we are allowed to use anything other than spikes. Can anyone shed some light on the subject?

[EricH]

Short answer: Jags, Victors, Spikes, knock yourself out. There are known issues with Jags under certain conditions, however; a quick CD search will probably turn up the threads with the issues and ways to deal with them.

And where do I find the rule to back me up on this, you ask?

[R50]
All electrical loads (motors, actuators, compressors, electric solenoids) must be supplied by an approved power regulating device (speed controller, relay module, or Digital Sidecar PWM port) that is controlled by the cRIO on the Robot.
a. Each CIM motor and Fisher-Price motor must be connected to one and only one approved speed controller. These motors must not be connected to relay modules.
b. Servos must be directly connected to the PWM ports on the Digital Sidecar. They must not be connected to speed controllers or relay modules.
c. If used, the compressor must be connected to one and only one approved relay module.
d. Each other electrical load (motor or actuator) must be supplied by one and only one approved speed controller, or one and only one relay module.
e. Electric solenoids may alternatively be supplied by the Solenoid Breakout Board connected to the NI 9472 cRIO module.
[R51]
The only power regulating devices for actuators permitted on 2012 FRC Robots include:
A. Jaguar motor controller (PNs MDL-BDC and MDL-BDC24),
B. Victor motor controller (PN FR-VIC884)
C. Vex motor controller (PN 276-2193)
D. Spike Relay module (PN SPIKE-RELAY-H)

[DonRotolo]

Any motor can be controlled with a Victor or Jaguar. Certain motors may also be controlled with a Spike relay.

[R50] All electrical loads (motors, actuators, compressors, electric solenoids) must be supplied by an approved power regulating device (speed controller, relay module, or Digital Sidecar PWM port) that is controlled by the cRIO on the Robot.
<snip>
d. Each other electrical load (motor or actuator) must be supplied by one and only one approved speed controller, or one and only one relay module.

(emphasis mine)

Caution: IF you want to use a Jaguar with a Window motor, remove the Locking Pins. Search CD for more details.

[R49] Motors, servos, and electric solenoids used on the Robot shall not be modified in any way, except as follows:
<snip>
C. The locking pins on the window motors (PN 262100-3030 and 262100-3040) may be removed.

[Mara]

Both Victors and Jaguars can be used. It's up to preference really.

[mjames708]

Ah, thank you all. this clears things up!