[Tristan Lall]

By the way, with regard to the 2013 and prior custom circuit rules, I'm of the opinion that a custom circuit can (at the team's option) include the wiring directly attached to the sensor or other device, all the way back to the non-custom robot part (like the sidecar). So the wire gauge rules aren't necessarily applicable, unless there is a specific wire gauge called out for the particular type of device that you're integrating through a custom circuit.