Legality of Jaguar closed-loop control modes

[taichichuan]

Originally Posted by biojae

Can't the encoders still be connected to the Jaguar?
The only rule restriction is that commands must come from the cRio.

The cRio can read the position (or speed) from the jaguar.
PID (or other closed loop control) can be calculated on the cRio.
Then the calculated voltage can be sent to the jaguar.

In order to use the Jaguars in one of the closed loop modes, you have to load PID values to the Jag. That would appear to be prohibited by the GDC's ruling.