[Al Skierkiewicz]

Epic,
The rule you are looking for is this one...

[R50]

All electrical loads (motors, actuators, compressors, electric solenoids) must be supplied by an approved power regulating device (speed controller, relay module, or Digital Sidecar PWM port) that is controlled by the cRIO on the Robot.

Each CIM motor and Fisher-Price motor must be connected to one and only one approved speed controller. These motors must not be connected to relay modules.

Emphasis mine. The answers are intended to get you familiar with the robot rules section. Should you have any questions, please ask. You are not the only one that is thinking about this at this point in the build season. Please be aware that Team Updates will be issued twice a week from now on and this rule is likely to include other motors that are also high current devices, in the future.