NJ Regional: IR Legality

[ALIBI]

Would commands like this be legal?

A: Turn Left
B: Go Straight and increase speed 5%
C: Turn Right
D: Go Straight and decrease speed 5%

Note: The straight command would be from 0-250 with 125 being in the middle of reverse and forward so that if you decreased speed enough, you would end up going in reverse. You really end up with four commands, forward, reverse, left or right. I am just not sure about the legality of the incremental increases/decreases in speed. On the other hand, increasing straight speed by +5% is a single command and decreasing straight speed by -5% is also a single command. Each time you push the "B" button speed increases by 5% and each time you push the "D" button speed decreases by 5%.

If this is not legal, would having:

B: Go straight at x% speed forward
D: Go straight at x% speed reverse

A and C would be in the direction and speed previously set by B or D

From what I saw in Hybrid today, it appears that some teams are using this type of setup.