CAN vs. PWM

[FRC111]

Is it the intent of the rules that all controllers on a robot use either CAN or PWM or does the rule apply to individual controllers?. The rule seems to imply each controller but other documentation leads one to believe the Crio is limited to PWM or CAN but not both simultaneously.

<R63> Each Jaguar speed controller must be controlled with signal inputs sourced from the cRIO-FRC and passed via either a connected PWM cable or a CAN-bus connection.
A. The Jaguar must receive signals via either a PWM cable -OR- a CAN-bus connection. Both cannot be used simultaneously.

[GDC]

Each individual Jaguar speed controller may be controlled via either the PWM signal path or the CAN-bus path, but not both. The rules do not prohibit the use of both PWM and CAN-bus strings on the same cRIO-FRC controller, as long as they do not directly connect to each other.