The Q&A has had a few questions about this already.
This is probably the one that bears most directly on your question...
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Q&A Section 8 the Robot--Power Distribution - Circuit protection
http://forums.usfirst.org/showthread.php?t=8539
Q: 3) The Inspection List has raised a few questions in meeting we held. here they are:
* Does the IR
circuit has to be used through a 20A breaker?
A: Question 3: The IR receiver
circuit must be protected by a 20-amp
circuit breaker (see Rule <
R55>).
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This is probably the most related rule:
8.3.8 - Control, Command & Signals System
<
R82>
Inputs to custom
circuits can be connected to the following sources:
• Branch
circuit breaker outputs
• Speed controller or relay module outputs
• PWM, relay or digital outputs on Robot Controller
• Switches, potentiometers, accelerometers, sensors, and other additional permitted electronics.