PID on Jaguars is Illegal

[MikeE]

Originally Posted by Tim Skloss

Inspectors would see the encoders plugged into the Jaguars.

If you run the encoders to the digital sidecar and do the PID in Labview then that would be LEGAL.

But encoders plugged into the Jaguars are perfectly legal according to <R62-H>. However, unless the inspector has a CANbus monitor or reverse engineers the deployed code, they can't tell whether the readings from the encoders are only sent to the cRio or are interpreted locally on the Jaguar.

So encoders etc. plugged into the Jaguars are a necessary condition for one type of distributed speed control, but not a sufficient condition.