PID on Jaguars is Illegal

[Alan Anderson]

I agree with the proposal that speed control should be commanded only by the cRIO. I do not agree with the conclusion that internal closed-loop control of motor speed by another device is therefore illegal. Even though the Jaguar is controlling the motor speed, it is doing so based on the cRIO's command.

I do wish the GDC had made what I think is the proper distinction between "command" and "control". I still hold some hope that they will find a way to change their answer without seeming capricious.