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.

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.

R716       *Don’t alter the CAN bus. No device that interferes with, alters, or blocks communications among the roboRIO and the PCMs/PHs, and/or CAN motor controllers on the bus will be permitted.

R717       *USB to CAN adapter permitted. Additional CAN bus connections may be added to the roboRIO using the CTR Electronics CANivoreTM (P/N 21-678682, WCP-1522) USB-to-CAN adapter.