Is it possible to add an arduino board to the bot?

[hunt4505]

Im not sure if this is allowed or not (i feel like there is a rule limiting you to 1 cpu)

[Jon Stratis]

It would be considered a custom circuit and need to conform to the appropriate rules especially R54.

[hunt4505]

Hmm, I would be using it to control some PID algorithm for balancing and moving pistons so I don't know where that rule falls.

[theprgramerdude]

Hmm, I would be using it to control some PID algorithm for balancing and moving pistons so I don't know where that rule falls.

It must talk to the cRio to control said pistons. The Arduino may not directly control anything that moves, essentially.

[Whippet]

According to the blue box under R55:

There are no rules that prohibit co-processors, provided commands originate from the cRIO to configure, enable, and specify all operating points for all power regulating devices. This includes Jaguar motor controllers legally wired to the CAN-bus.

Thus, as long as the Arduino gives its data to the cRIO, it should be legal to use it to process information.

[Michael Hill]

You could have it do all the calculations and possibly output data to the digital sidecar. Haven't fully thought through this though. Possibly I2C? Can the digital sidecar do SPI?

[Gdeaver]

The Arduino has a slave I2C library.