[Kevin Sevcik]

No, it's not legal.

<R60> 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.
<R61> All outputs from the custom circuits must connect to the Robot Controller or to other custom
circuits. If connected to the Robot Controller, they must connect through the analog inputs,
digital I/O, TTL Serial Port, or Program Port only. Custom circuits can not connect to the
Robot Controller through any other ports. Custom circuit outputs can not connect to speed
controllers, relay modules, or pneumatic valves.

The relay is part of a custom circuit, so it can't be directly inline with the solenoid power.