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The adult drive team mentor is the same as letting the baseball coach be the pitcher or the football coach be the quarterback.
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Actually, since the coach can't touch field pieces or controls, FRC coaching is just like baseball and football. Not being allowed on the field is like coaching from the locker room with no infleunce on the evolving game.
The rules allow you to use your most qualified person for the job and I don't see why this is a bad thing, nor do I see why you would impose an additional constrant on that.