[cad321]

We used a similar system at palmetto thus year. We used the guts of a cordless drill and connected our arm pivot motor to it (variable speed trigger on the drill). During one of our Elim matches, we were told it was not legal to use. I can't remember specifics however it was because of a similar ruling as with off board compressors.

The motor was not being controlled 1) by the robots power supply for that match (simple fix, use the battery currently on the bot) and 2) the signal controlling the motor did not originate at the roborio.

So assuming this follows over to other tournaments, the only legal course of action in my opinion then is powering up and connecting to the roborio.