FRC Linear Actuator Control Systems Legality

[Roceres]

Hi,

One of our fellow teams was telling us that the FRC '15 rules don't allow for a Linear Actuator ( such as this one --- > https://www.servocity.com/html/560_l...l#.VQpZAo7F9jI) because it has built-in limit switches.

Is this true? I was looking at R57 through R59 in the manual and it seems that it's OK.

Side Question:
In addition, it looks like we're now allowed to used PID closed loop control using Jaguars as long as we have the firmware v109? Are Jaguars durable?

Thanks,
Rich