[Raul]

I think it is very simple; ask yourself this question:

Are you changing parts to make it easier to a adapt to a different partner, opponent, strategy or style of play? Are you switching back and forth?

If yes, then it is against the rules.

I do not see anything wrong with changing your mind on a design as long as it is done with the intention of continuously and permanently improving your robot.

Only GP and your own conscience can guide you on many of our rules. The no SW upgrades after the fix-it window and the 25lb limit on spares are just some obvious examples. No one is going to weigh the spares you bring or do an audit of your team to see if your SW has been upgraded at the wrong time.

My 2 cents.