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.

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:

R505       *Don’t overload controllers. Each power regulating device may control electrical loads per Table 8‑2. Unless otherwise noted, each power regulating device shall control 1 and only 1 electrical load.

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: