Legality of Jaguar closed-loop control modes

[biojae]

Originally Posted by taichichuan

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.

The jaguar would be in Voltage control mode.
The position (or speed) values can be read through the CAN bus (after the correct settings are loaded into the jaguar, SpeedReference for example).
The voltage to send to the jaguar can then be calculated on the cRio.

This does not use any of the Jaguar closed-loop modes, and so it seems legal.