[dtengineering]

I was about to reply that the minimum wire size that you could use for servos was 22 AWG because that had been clearly specified in the manual in the past.

Then I thought about how it is good practice to provide a link to the actual rule, rather than just a vague recollection of what the rule might be. So I went and looked and... you know... all I can find is R40, requiring all wiring to be appropriately sized. Hmm... I can see why you are asking.

If you've got 22 AWG servo wire then I doubt there is a tech inspector anywhere who would give you grief over it. If you used 24 AWG, well... it would be hard to fail a robot from tech for that. I suppose one could argue that 24 AWG isn't "appropriately sized" for a large servo a long way from the control unit... but you'd have a hard time arguing that 24 AWG wasn't "appropriately sized" for sending signals to a speed controller. Indeed, FIRST supplied a 24AWG servo "Y" cable in years past specifically for signalling speed controllers. If you are concerned about whether 24 AWG is explicitly legal, then post a Q&A question. Otherwise go with 22 AWG. It has been the FIRST standard for years and continues to be "appropriately sized".

As for the camera, why not just go with whatever gauge is is using at the moment?

Jason