[docdavies]

Eric,

Perfect! This is where I was hoping to go. I had been running the Arduino off the Power Distribution Board (PDB) line that went to our DSC but you're right, I can pull it off the DSC when I connect it back up.

We actually have been thinking of making it a fall robotics project for our students. I just wanted to make sure it's possible, and that I understood enough about it to actually mentor the project.

I think the PWM situation is in hand. I've found that you can directly use the PWM outputs from the Arduino to the jags and it works fine (thanks for those of you who provided suggestions for that work!!!). And the GPIO lines can also directly activate spike relay's. The only problem I've had so far is having to run the GPIO output to a 2222 transistor to run our 12V pneumatic valves or a relay to run the 24V ones.

I did not implement any sensors (we were just using the old Breakaway robot for driver training), and this is another big step for me.

Thanks again folks,
Doc