[Vikesrock]

I would say no per rule <R83>. Emphasis mine.

<R83> All outputs from sensors, custom circuits and additional electronics shall connect to other custom circuits or the Robot Controller. 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 must not connect to the Robot Controller through any other ports. Custom circuit outputs shall not be connected to speed controllers, relay modules, pneumatic valves, servos, motors, or actuators.

EDIT: <R53> also appears to prohibit this.

<R53> Custom circuits shall NOT directly alter the power pathways between the battery, fuse
blocks, speed controllers, relays, motors, or other elements of the robot control system
(including the power pathways to other sensors or circuits). Custom high impedance voltage
monitoring or low impedance current monitoring circuitry connected to the ROBOT’S
electrical system is acceptable, because the effect on the ROBOT outputs should be
inconsequential.

The same effect should be achievable by connecting the limit switch to the RC and implementing the cutoff in software.