R503      *Don’t modify motors (mostly). The integral mechanical and electrical system of any motor must not be modified. Motors, servos, and electric solenoids used on the ROBOT shall not be modified in any way, except as follows:

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 2024_v2.1 or later.

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.

R625      *Don’t modify critical power paths. CUSTOM CIRCUITS shall not directly alter the power pathways between the ROBOT battery, PDP/PDH, motor controllers, relays (per R504-B), motors and actuators (per R501), pneumatic solenoid valves, or other elements of the ROBOT control system (items explicitly mentioned in R710). Custom high impedance voltage monitoring or low impedance current monitoring circuitry connected to the ROBOT’S electrical system is acceptable, if the effect on the ROBOT outputs is inconsequential.