Absolutely in no way should you EVER hook a motor up directly to the circuit breaker or fuse panel. The officials will definitely notice this during inspection and will make you change it, not to mention it can be a safety hazard. All motors must recieve power through a speed controller or relay, depending on the type of motor. Generally, the higher power motors (drill motor, chippy, fisher price, etc) may only be hooked up to a speed controller. For the other motors you can choose to use a speed controller or relay.
Look on pages 8 and 9 of this document:
Robot Rules & Specs
They show you a general wiring diagram and tell you what kind of control you can use for each motor.
Look at the end of this document to see what they check for when they inspect your robot:
Team Update #4
-Keith
Mentor #920