This Q&A post clarifies a lot:
http://forums.usfirst.org/showpost.p...95&postcount=6
So, to sum up my responses to all of the above questions:
- Toggling an arm, bit, etc. is not allowed. Sort of. If you have a variable in your program to toggle, it's not allowed. But if the arm depresses a switch, you are allowed to say, "If the switch is depressed, move the arm up. Else, move it down." So toggling is allowed if it is based solely on sensor inputs.
- To the person above who said increasing speed is not allowed: the Q&A post explicitly says it is.
- I don't think having the robot stop if you press nothing is allowed. R65 says you can't use changes in the signal state to encode longer messages. I think pressing/releasing a button is a change in signal state, so you can't use that as an additionally message.