Legality of Jaguar closed-loop control modes

[EricVanWyk]

There is no rule that prohibits the Jaguars from reading the values from the encoders, however note that Rule R49 requires that the ROBOT must be controlled by the cRIO. In other words, commands may not originate in the Jaguar or any other controller, they must originate in the cRIO.

The commands for the various control moods do originate in the cRIO, it is just that the command is "Set your speed according to these parameters and the encoder".

The key word is command, not data.