FRCTools

R712       *Control PWM controllers from the roboRIO. Every relay module (per R504-B), servo, Servo Power Module, and PWM motor controller shall be connected to a corresponding port (relays to Relay ports, servos, and PWM controllers to PWM ports) on the roboRIO (either directly or through a WCP Spartan Sensor Board) or via a legal MXP connection (per R713). They shall not be controlled by signals from any other source.

Similar Rules

Rule R711
R711       *Don’t connect motor outputs to roboRIO. Neither 12VDC power nor relay module or motor controller outputs shall be directly connected to the roboRIO, with the exception of the designated 12VDC input.
Rule R714
R714       *Control CAN motor controllers from the roboRIO. Each CAN motor controller must be controlled with enable/disable 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 R715
R715       *Control PCM, PH, and Servo Hub from roboRIO. Each Pneumatic Control Module (PCM), Pneumatic Hub (PH), and Servo Hub 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 R506
R506       *Control servos safely. Servos must be connected to, and only to, 1 of the following: