[Kevin Sevcik]

The robot rules clearly state that any custom circuits can only interface with the RC and sensors, so you can't connect any speed controllers to the outboard PIC. I believe the typical MO is to interface with the it through the TTL serial port on the robot. You could theoretically pass all the processing off to it by sending it all the data received by the RC and having it do all the work while the RC just does what the outboard tells it.