[de_]

Thanks for some great links and info.

Re logging: I really only hoped to log exceptions (out of normal parameters for an operating robot) so hopefully we are not talking 1000s of writes per second and if we are, as you pointed out, it could be written into the Arduino memory and then dumped offline to a USB stick or compact flash card).

Part of the goal is to give a team a good development and testing system problem solving tool and partly to provide supporting evidence of field issues versus robot issues.