[lukevanoort]

I wouldn't say toggling in hybrid is illegal just yet. IMHO, this falls into a gray area, and must go to the Q&A for clarification. I can see it as being both legal and illegal; a toggle is one command, and the robot is obeying one command with one action, 'toggle,' but, one can also say that this is dynamically changing the command of one button (drive and stop). People could probably sit at their computers for eternity arguing over which is the correct interpretation and still not come to a definite conclusion.