Yes, there is no restriction on changing pitchers during an at bat, unless the current pitcher just entered the game and the batter is the first batter he faces. The pitcher must face at least one batter before he can be replaced, unless the pitcher is injured, or ejected from the game.
In the minor leagues pitchers do not come to bat. They all use the designated hitter rules. In Major League Baseball pitchers come to bat in the National League, they do not bat in the American League where the designated hitter rule is employed. During inter-league play, the All-Star Game and the World Series, pitchers from both leagues come to bat if the game is being played in a National League park.
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