[Alan Anderson]

It's perfectly fine to read sensors while the robot is disabled. In fact, sometimes it's important to do so. For example, when you're using a solid-state gyro, you need to calibrate it before you start moving, and you need to read it consistently in order to track your heading.

The camera is considered a sensor rather than an actuator. If its servos are only controlling the direction it's looking, having those servos active even when the robot is disabled is permitted.

Changing this year's camera code to use camera-connected servos is neither trivial nor obvious. I think it might actually have worked better if I had started with last year's code instead.