Why are Limit Switches outlawed with PWM, but not CAN?

[Al Skierkiewicz]

Phil,
Under CAN the state of the limit switch must be read by the Crio and then a motor command is issued if the FMS is still allowing active motion. The limit switch in PWM mode controls the Jaguar directly, independent of the the Crio, and therefore, will continue to run the motor without interaction with FMS. Motion must stop under control of the FMS for either match play or safety disablement.