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What did the umpire say? Probably said your pitcher was legal. It is a fair possibility your opposing coach was just trying to mess with your pitcher.
The rule you are looking for, I think, is ASA 6-3-I. (Make sure you are looking at Rule 6 - Fast Pitch, since there are 3 rule 6's in the book - Fast, Modified, and Slow Pitch).
Pushing off and dragging the pivot foot in contact with the gound is required. If a hole has been created the pivot foot may drag no higher than the level plane of the ground.
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