FRCTools

R713       *Only approved MXP devices can control actuators. If a motor is controlled via the MXP, its power regulating device must be connected by 1 of the following methods:

A.      directly to any PWM pins,

B.      via a network of PASSIVE CONDUCTORS used to extend the PWM pins, or

C.      via 1 approved ACTIVE DEVICE:

a.      Kauai Labs navX MXP

b.      Kauai Labs navX2 MXP

c.      RCAL MXP Daughterboard

d.      REV Robotics RIOduino

e.      REV Robotics Digit Board

f.        West Coast Products Spartan Sensor Board

g.      Huskie Robotics HUSKIE 2.0 Board

A PASSIVE CONDUCTOR is any device or circuit whose capability is limited to the conduction and/or static regulation of the electrical energy applied to it (e.g. wire, splices, connectors, printed wiring board, etc.).

An ACTIVE DEVICE is any device capable of dynamically controlling and/or converting a source of electrical energy by the application of external electrical stimulus.

The “network of PASSIVE CONDUCTORS” only applies to the pins being used for PWM output to motors or servos. This means that connecting an ACTIVE DEVICE, such as a sensor to 1 MXP pin does not prevent other MXP pins from being used in accordance with B.

Similar Rules

Rule R712
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.
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 R710
R710       *Only specified modifications to control system devices permitted. The Driver Station Software, roboRIO, PD, PCM(s)/PH(s), VRM(s)/RPM(s), RSL, 120A breaker, motor controllers, MXP devices used to control actuators per R713-C, relay modules (per R504-B), wireless bridge, PD breakers and fuses, Servo Power Module, Servo Hub, motor power adapter boards, and batteries shall not be tampered with, modified, or adjusted in any way (tampering includes drilling, cutting, machining, rewiring, disassembling, painting, etc.), with the following exceptions:
Rule R504
R504       *Power (most) actuators off of approved devices. With the exception of servos, fans, or motors integral to sensors of COTS computing devices permitted in R501, each actuator must be controlled by a power regulating device. The only power regulating devices for actuators permitted on the ROBOT include: