here are the rules:
"<R61> You must connect all outputs from the
sensors and additional electronics circuits used on the robot
directly to the analog or digital I/O on the Robot Controller.
Sensors may not be wired to their loads to
directly control those loads. All loads must be controlled by PWM signals sent by the Robot Controller
to relays or speed controllers. It is acceptable to wire switches used as
sensors in series or parallel with
each other."
http://fjerboa.com/rules.php?inp=sensor+rules