Rule R701

R701 *Control the robot with a roboRIO. Robots must be controlled via 1 programmable NI roboRIO or roboRIO 2.0 (P/N am3000 or am3000a, both versions referred to throughout this manual as roboRIO), with image version 2023_v3.1 or later.

There are no rules that prohibit co-processors, provided commands originate from the roboRIO to enable and disable all power regulating devices. This includes motor controllers legally wired to the CAN bus.

Similar Rules

Rule R714

R714 *Control CAN motor controllers from the roboRIO. Each CAN motor controller must be controlled with signal inputs sourced from the roboRIO and passed via either a PWM (wired per R713) or CAN bus (either directly or daisy-chained via another CAN bus device) signal, but both shall not be wired simultaneously on the same device.

Rule R901

R901 *Use the specified Driver Station Software. The Driver Station Software provided by National Instruments (install instructions found here) is the only application permitted to specify and communicate the operating mode (i.e. AUTO/TELEOP) and operating state (Enable/Disable) to the Robot. The Driver Station Software must be version 23.1 or newer.

Rule R715

R715 *Control PCM/PH(S) from roboRIO. Each PCM/PH must be controlled with signal inputs sourced from the roboRIO and passed via a CAN bus connection from the built-in CAN on the roboRIO (either directly or daisy-chained via another CAN bus device).

Rule R717

R717 *Dont alter the CAN bus. No device that interferes with, alters, or blocks communications among the roboRIO and the PDP/PDH, PCMs/PHs, and/or CAN motor controllers on the bus will be permitted.