It looks like you may be able to directly connect the servos to your custom circut..
Quote:
<R57> The use of additional electronics is intended to allow teams to construct custom circuits for their robots.
The custom circuits may be used to indirectly affect the robot outputs by providing enhanced sensor feedback
to the Robot Controller to allow it to more effectively decide how to control the robot. In addition to the
required branch power circuit breaker, smaller value fuses may be incorporated in the custom circuits for
additional protection. All outputs from the custom circuits must be connected to the analog inputs, digital
I/O, TTL Serial Port, or Program Port on the Robot Controller.
<R59> Custom Circuits may not:
• Interfere with the operation of other robots
• Directly alter the power pathways between the battery, fuse blocks, speed controller/relay, and motor.
Custom high impedance voltage monitoring or low impedance current monitoring circuitry connected to
the robot’s electrical system is acceptable, because the effect on the robot outputs should be
inconsequential.
• Directly affect any output devices on the robot, such as by providing power directly to a motor, supplying
a PWM signal to a speed controller or supplying a control signal to a relay module
• Be used for wireless communication, such as sending or receiving a signal to and/or from the alliance
station
• Connect to the radio or tether ports on the Robot Controller
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However, this may be something to post to the Q&A boards. Last year, they allowed the CMUCam to control its own servos if you wanted it to.
I don't see it addressed in the rules either way.. It's up to you if you assume that means its legal (which I don't recommend), or get someone to post it to the Q&A
I know using a seperate processor to send a signal to the RC to make it change a PWM is legal.
It seems the intent of this rule is so that when the robot is disabled, there is no chance of any part of it moving.. Connecting PWM's to a custom circut would violate this.