paper: Shooter Wheel Speed Control

[nighterfighter]

I think the rule violation would either be:

[R47]

Custom circuits shall not directly alter the power pathways between the battery, PD Board, speed controllers, relays, motors, or other elements of the Robot control system (including the power pathways to other sensors or circuits). Custom high impedance voltage monitoring or low impedance current monitoring circuitry connected to the Robot’s electrical system is acceptable, if the effect on the Robot outputs is inconsequential.

Or, more likely this one:

[R50]

All electrical loads (motors, actuators, compressors, electric solenoids) must be supplied by an approved power regulating device (speed controller, relay module, or Digital Sidecar PWM port) that is controlled by the cRIO on the Robot.

Each CIM motor and Fisher-Price motor must be connected to one and only one approved speed controller. These motors must not be connected to relay modules.
Servos must be directly connected to the PWM ports on the Digital Sidecar. They must not be connected to speed controllers or relay modules.
If used, the compressor must be connected to one and only one approved relay module.
Each other electrical load (motor or actuator) must be supplied by one and only one approved speed controller, or one and only one relay module.
Electric solenoids may alternatively be supplied by a Solenoid Breakout Board connected to the NI 9472 cRIO module, which is powered by 12V.

As for the Spike, I'm not sure.

I remember hearing/reading about it being one, and it seems to behave like any electro-mechanical relay I've used also. (Mainly, the clicking sound when it switches)