Legality of Jaguar CAN-bus operating modes
The explanation of the intent of R62 states in part that "...any additional devices on the Ethernet or CAN-bus must not provide command signals that do not originate from the cRIO-FRC."
This, coupled with a prior 2011 Q&A answer regarding direct connection of encoders to the Jaguar speed controllers, creates ambiguity as to whether the Jaguar closed-loop control modes for speed, position, etc. are legal for competition use. The answer appears to disallow use of the Jaguar closed-loop control modes, however this is not clear since when using CAN-bus in compliance with rules R55, R58, and R59, the Jaguars are under the control of the cRIO-FRC even when operating in a closed-loop control mode such as position control.
To resolve this ambiguity, please state which of the operating modes available for a Jaguar in CAN-bus configuration are legal for competition use:
1. Voltage control mode
2. Speed control mode
3. Position control mode
4. Current control mode
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Originally Posted by GDC
