FRC Linear Actuator Control Systems Legality

[Roceres]

Hi,

One of our fellow teams was telling us that the FRC '15 rules don't allow for a Linear Actuator ( such as this one --- > https://www.servocity.com/html/560_l...l#.VQpZAo7F9jI) because it has built-in limit switches.

Is this true? I was looking at R57 through R59 in the manual and it seems that it's OK.

Side Question:
In addition, it looks like we're now allowed to used PID closed loop control using Jaguars as long as we have the firmware v109? Are Jaguars durable?

Thanks,
Rich

[Mike Marandola]

The problem is not the limit switches, it's the illegal motor. You would have to remove the included motor and mount a CIM or another legal motor.

[Jefferson]

Originally Posted by Roceres

Hi,

One of our fellow teams was telling us that the FRC '15 rules don't allow for a Linear Actuator ( such as this one --- > https://www.servocity.com/html/560_l...l#.VQpZAo7F9jI) because it has built-in limit switches.

Is this true? I was looking at R57 through R59 in the manual and it seems that it's OK.

Side Question:
In addition, it looks like we're now allowed to used PID closed loop control using Jaguars as long as we have the firmware v109? Are Jaguars durable?

Thanks,
Rich

Mike is correct here. The motor makes it illegal.

If you're looking for a linear actuator, we've had great luck with the DART sold by AndyMark. It has built in pot and limit switches to run right back to the Jaguar and it'll accept a CIM right out of the box.
http://www.andymark.com/SearchResults.asp?Search=dart

And speaking of fabulous products, I'd recommend the TalonSRX in place of the Jaguar if you have some money to spend. Better in weight, size, and support.

The Jaguar internal PID control has been legal for years given the correct firmware version. But like I mentioned above, the TalonSRX will do all the same functions, but better.

[Roceres]

Thanks for the replies and excellent recommendations. Leaning towards switching to the andy mark actuator and talon. Yup, the motor would have to go if we kept that other one.

So what you're saying is that the internal limit switches don't have to connect to the roborio directly so as long as I have a legal motor?

[PAR_WIG1350]

Originally Posted by Roceres

Thanks for the replies and excellent recommendations. Leaning towards switching to the andy mark actuator and talon. Yup, the motor would have to go if we kept that other one.

So what you're saying is that the internal limit switches don't have to connect to the roborio directly so as long as I have a legal motor?

Maybe...

The limit switches don't need to be hooked to the RoboRio, but they also cannot directly be used to cut power to the motor. The command to cut power to the motors needs to originate in the RoboRio or an approved CAN enabled motor controller.

[Roceres]

Thanks Everyone, Your input has been super helpful! Good luck to everyone at the Regionals!