RC Decision-Making during RoboCoach Commands

[FRC188]

Background:
1) Team Alpha has created a RoboCoach command for Alphabot called "move Alphabot to correct heading." This RoboCoach command triggers the same sequence of RC commands and decisions every time it is sent:

a) Read heading of CMUCam which is successfully tracking a trackball.

b) If trackball heading is left of robot heading, turn robot left until headings are same, then stop.

c) If trackball heading is right of robot heading, turn robot right until headings are same, then stop.

2) Team Beta has created a RoboCoach command for Betabot called "move Betabot's arm to correct position." This RoboCoach command triggers the same sequence of RC commands and decisions every time it is sent:

a) Read limit switches at both ends of arm travel.

b) If top limit switch is pressed, lower arm until bottom limit switch is pressed, then stop.

c) If bottom limit switch is pressed, raise arm until top limit switch is pressed, then stop.

Question(s):
1) With respect to the Q&A response at http://forums.usfirst.org/showthread.php?t=8370, due to RC decision-making, neither RoboCoach command will always result in the same robot action. Alphabot's RC may decide to rotate the robot left or right, Betabot's RC may decide to raise or lower the arm. In both cases however, the same RC command and decision sequence is triggered every time the RoboCoach command is sent. Can you comment on the legality of both of these RoboCoach commands?

2) Should it be accepted that Team Beta's RoboCoach command is just a poorly veiled attempt at "toggle arm position" (as described in the referenced Q&A response) and is contrary to the intent of the rules, or is there actually a valid distinction due to the presence of RC decision-making?

Thanks again for all your time and effort in providing the Q&A. It is truly appreciated!!!

[GDC]

The Robocoach commands in both the Alpha and Beta examples satisfy the letter and intent of the rule. Both solutions involve reading sensors on the robot to perform the commanded functions.