[Greg McKaskle]

All of those sound like good enhancements.

I'd also add that the teleop does little beyond calculating and updating set points and updating state machine triggers. If you can build in a logging capability, it will likely pay for itself in understanding how the robot is running.

Related to logging, the framework code has a file called Elapsed Times in the Support Code folder. If you place it into your teleop, vision, and other control loops, it will give a very easy way to monitor rates of the robot system.

Greg McKaskle