[dsirovica]

Thanks for the feedback. I am curious to hear your opinion on what is the primary mission of FIRST ?

Really when I look at the thread on the bent pins on the Jaguars - that is criminal - there is no way TI would get away selling that into a supply chain - are they dumping sub-spec stuff into kids programs? At the very least the FIRST suppliers should deliver commercial grade goods. I would actually expect that the engineers behind this would give it an extra effort since it is for kids trying to follow in their footstep.

Back to the code: Yes we implemented our own PID since the built-in one we couldn't get stable. As a result it is not running in a separate thread. Sounds like you are advising us that if we put something into a thread (PID, Dashboard, DriveStation, etc.) then we should get much better performance for the rest of the code? we'll look into that thanks - though this is getting a bit advanced for our kid programmers...

How about the drift we see between set() and get() ? Maybe threading will solve that too as we can "flood" the Jag with keep alive CAN messages.

Basically we want to achieve fine motion control so we can rotate the whole robot to the target (no need for a lazy susan), and use the same for bridge balancing. We should be able to do better than a human driver - alas doing it in code is worse!

Thanks for the help!
Dean