[Zme]

what we did last year was have the electrical team make us a small pwm signal generator that connected into a quick disconnect on the robot, got power from the robot's battery and used their speed controller.we used it to pretension our kicker and adjust the position of our winch. it was allowed then under the condition that the signal generator could not be brought onto the field itself as that would be considered having another device control the robot. if you are using can bus this would be a bit more difficult as i don't think the rules allow having both wired at once, but it is still doable.