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42 St Shuttle Automation

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I know that this topic has been answered before, but I still have a few questions:

Back when the 42 (S) was automated using the R22's, all the commands would come from the rail joints while with CBTC, commands come from the trains cab itself as well as the transponders at the bottom. The (S)'s R22's used grade time stops (similar to a more faster version of fixed block signaling) to ensure that the train would stop in the correct place. So this means that automation can be implanted into any SMEE fleet am I correct?
But, there is still one thing I'm still not understanding, if the R22's were able to be automated, how DID they get automated without any type of computer onboard?

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