Using 2CAN on Robot

[TogetherSword8]

I am a programmer from team 888, and we are using CAN bus for the first time this year. After reading about the advantages of a 2CAN, we went ahead and purchased one for use in getting used to the CAN bus line. We were scouring through the rules, and we could not find anything that explicitly said the 2CAN was allowed, but we found this in Rule 72.

R72
All outputs from sensors, custom circuits and additional electronics shall connect to only the following:

other custom circuits,
additional COTS electronics,
input ports on the Digital Sidecar,
input ports on the Analog Breakout Board,
the RS-232 port on the cRIO,
the Ethernet network connected to either Port 1 or Port 2 of the cRIO,
the CAN-bus if and only if all Jaguar motor controllers on the CAN-bus are wired in full compliance with R68 and R69, or
the sensor inputs on the Jaguar motor controller.

Custom circuits and additional electronics are allowed to utilize the Port 2 Ethernet bus on the cRIO-FRC and/or the CAN-bus to communicate between devices. Note however, that the ROBOT must be controlled by the cRIO (see R55). Thus, any additional devices on the Ethernet or CAN-bus must not provide command signals that do not originate from the cRIO.


We are attempting to use a 2CAN on our 4 input cRIO, and it only has one ethernet port. In order to hook up the 2CAN to the cRIO, we need to do one of two options,

Either break the ethernet connection from the cRIO to the bridge (what we are doing now) through the 2CAN

or

Connect the 2CAN to the wireless bridge and go though that to connect to the cRIO.

We cannot tell if this rule states that we are allowed to do either of those things.

Is there an interpretation that has existed that can answer how we are allowed to use the 2CAN, if at all?

Thanks

[Phalanx]

Originally Posted by TogetherSword8

We were scouring through the rules, and we could not find anything that explicitly said the 2CAN was allowed

Unfortunately, I can't quote the exact place, however, 2CAN is allowed.

Originally Posted by TogetherSword8

Connect the 2CAN to the wireless bridge and go though that to connect to the cRIO.

Connecting the 2CAN to the wireless bridge is the correct way.

[Joe Ross]

The 2CAN is allowed in R69