Can a party knowingly call a witness it expects to testify contrary to previous statements in order for those statements to entered as substantive evidence before a jury?

QUESTION(S) PRESENTED 1. Can a party knowingly call a witness it expects to testify contrary to previous statements in order for those statements to entered as substantive evidence before a jury? 2. Is giving the standard 2.13 Prior Inconsistent Statement as Impeachment instructions confusing, contradictory or misleading when prior grand jury testimony was used for impeachment and is also entered as substantive evidence? 2