We have LED's on our bot. Actually multi section lights, but we have to program them in advance. We created some buttons that are preprogrammed so we can change the message during matches using the same controls we use to shoot. Last week for instance it talked about Purdue and encouraged everyone to "Boiler Up" (one of our mentors went there and assured us it meant something to the people in the area
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So LED's ok (as long as they don't cause an issue with other drivers visibility), but the IR during a match would be a no go I am pretty confident of.