Technically this is possible. As for the rules, the only applicable rule I can find is G1.
Quote:
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Originally Posted by <g1>
AUTONOMOUS PERIOD - The AUTONOMOUS PERIOD is the 15-second period at the start of the MATCH. PILOT control of the ROBOT is not permitted at this time. During this period, the ROBOTS may react only to sensor inputs and commands programmed into the onboard control system. All ROBOT safety rules are still applicable during the AUTONOMOUS PERIOD. The AUTONOMOUS PERIOD ends when the arena timer displays zero seconds left in the period.
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This may be soothing to post on the FIRST Q and A.
Assuming using the input during autonomous is legal, you won't need special permission to attach switches to the DS inputs.
If for some reason you can't use the DS inputs you can use the inputs directly on the robot and set them while placing the robot.