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Re: Running the Kinect on the Robot.
The concern of the rule you mention is that all motor, solenoid, and peripheral control go through the cRIO exclusively so that the field management systems can shut it down and enable certain functions during the different match phases. Seeing as all of the discussion seems to assume the cRIO and digital breakout board will still be the source of all controlling signals, there shouldn't be any problem.
While I can't point you to an official ruling, this topic was brought up before and I am almost positive someone found an official comment/asked themselves.
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