To answer the question to "Is this competition legal?"... directly from the rules:
Quote:
<R67> The control system is provided to allow wireless control of the ROBOTS. The Operator Interface, Robot Controller, speed controllers, relay modules, radio modems, batteries, battery charger, AC adapter, and 9-pin cables shall not be tampered with, modified, or adjusted in any way (tampering includes drilling, cutting, machining, gluing, rewiring, etc.),
with the following exceptions:
* User programmable code in the Robot Controller may be customized.
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So yes, it is competition legal, as ROBOTC's custom firmware overwrites the USER part of the firmware, but does not touch the master firmware, still allowing the FRC to be controlled by the IFI control system. :-D