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PWM1 = 254 will do the same thing as relay1_fwd = 1 and
PWM1 = 0 will do the same thing as relay1_rev = 1
PWM1 = 255 will not run at full foward, you need to use 254. As far as what's legal, you need to ask FIRST, but if you have to use a relay for the light, maybe you could use a speed controller to replace a relay somewhere else? Maybe for a solenoid or for the pump?
We're having the same problems because we're a rookie team and we only have 4 relays. We're asking local teams if we can borrow 1 or 2 of their spikes since most of them have plenty left over from previous years.
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