Ask again on Saturday when the rules are posted!
Until then, this would fall under the 2016 R52:
Quote:
With the exception of servos, fans, or hard drive motors permitted in R29, each actuator must be controlled by a power regulating device. The only power regulating devices for actuators permitted on the ROBOT include:
A. Motor Controllers
i. Jaguar Motor Controller (P/N: MDL-BDC, MDL-BDC24, and 217-3367)
ii. SD540 Motor Controller (P/N: SD540x1, SD540x2, SD540x4, SD540Bx1, SD540Bx2, SD540Bx4)
iii. Spark Motor Controller (P/N: REV-11-1200)
iv. Talon Motor Controller (P/N: CTRE_Talon, CTRE_Talon_SR, and am-2195)
v. Talon SRX Motor Controller (P/N: 217-8080, am-2854, 14-838288), equipped with firmware version 0.28 or newer if using via PWM. See R70 if using via CAN.
vi. Victor 884 Motor Controller (P/N: VICTOR-884-12/12)
vii. Victor 888 Motor Controller (P/N: 217-2769)
viii. Victor SP Motor Controller (P/N: 217-9090, am-2855, 14-868380)
B. Relay Modules
i. Spike H-Bridge Relay (P/N: 217-0220 and SPIKE-RELAY-H)
C. Pneumatics controllers
i. Pneumatics Control Module (P/N: am-2858, 217-4243)
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Any other power regulation (like what Marshall posted) would fall under the heading of a CUSTOM CIRCUIT, and per R55,
Quote:
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CUSTOM CIRCUITS shall not directly alter the power pathways between the ROBOT battery, PDP, motor controllers, relays, motors and actuators (per R28), pneumatic solenoid valves, or other elements of the ROBOT control system (items explicitly mentioned in R66).
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So you can use other items to power things like LED's, but not any actuators, motors, solenoids... pretty much nothing that can cause movement on the robot.
I would STRONGLY expect similar rules this year. Look for them!