<R52> B. states:
An unlimited number of COTS servos with a maximum output torque of 55 oz-in and maximum rotational speed of 100 rpm at 6 Vdc (e.g. HITEC model HS-322HD or HS-325HB servos, as provided in the KOP)
However <R52> C. states:
An unlimited number of FIRST Tech Challenge (FTC) servos (HITEC HS-475HB servos)

My issue is that HS-475HB violates section B in that the torque is 76 oz/in. In addition, HS-475HB has been discontinued and replaced with HS-485HB which has a torque of 83.3 oz/in.

So the question is can we violate <R52>B and use HS-475HB, assuming I can still find stock? If we cannot find stock, can we use HS-485HB?

Other Posts suggest that unmodified stock versions of HS-322HD can be used in either 90deg, 180deg, 360deg configurarations. Is the same true for HS-475HB? What is the stock FTC stock configuration?