Lithion-Ion Batteries

[apalrd]

The current system has four types of regulated outputs:
-Servo PWM
-two digital lines (relays)
-CAN
-moderate current high-side drivers (solenoids/lights)

Almost any motor controller that exists in the hobby world will accept Servo PWM. The current code even allows tuning the pwm max pulse width - A Victor is narrower than a Jaguar, which is narrower than a servo.

There's nothing the control system really cares about, as long as a removal of the PWM signal guarantees the motor shuts off.

Also, as teams are regulated by the PD board (limited 40a breaker spots, and 40a max breaker size), the 120a main breaker, and the 50a battery connector, teams are already power limited electrically, without limiting motors.

As long as a motor is a COTS part that can be bought by anyone, I see no reason to make it illegal. You are limited by the main breaker and PD board, which effectively limit the power of individual motors and all motors on the robot as a whole.