Are custom developed devices thet write and or read the can is allowed?
Yes (assuming other rules are followed, such as COTS / build schedule). The key limitation is that the enable control for motor controllers must come from the Rio, but otherwise anything goes. Note COTS products like CTRE CANcoders aren’t specifically allowed by the rules, and as such are technically custom circuits. Various teams have used coprocessors with CAN bus interfaces as well, etc.
6 Likes