Is the suggested Vision Camera setup ILLEGAL?!

[RIgnazio]

Pretty much, FIRST has made it confusing, once again. according to <R53>:

<R53> Custom Circuits may not:
• Interfere with the operation of other robots
• Directly affect any output devices on the robot, such as by providing power directly to a motor, supplying a PWM signal to a speed controller or supplying a control signal to a relay module. (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.)
• Be used for wireless communication, such as sending or receiving a signal to and/or from the alliance station
• Connect to the radio or tether ports on the Robot Controller

it states that it can not control an output ON THE ROBOT.
Obviously, the camera is going to be on the robot, and not hovering or anything. (If you can get your cam to hover, let me know how! j/p)

Now, according to the Q&A

ID: 1183 Section: 5.3 Status: Answered Date Answered: 1/17/2005
Q: May we connect servos to the PWM outputs on the CMUcam to take advantage of the automatic pan and tilt control that it provides
A: Yes. Servos connected to the camera module are considered part of the camera module and can only be connected to it.

it is quite alright. I think someone needs to e-mail FIRST. I personally believe the rulebook, and am surprised that it hasnt been included in the latest FIRST rules update.