[JohnGilb]

Greg, as usual, your posts are extremely informative.

Your approach of using globals as the data-passing mechanism and using global switches / text file initialization to switch between test code and production code seems simple and robust enough for our needs.

That being said, I watched some videos and read up on the Actor framework - really interesting stuff! I've been looking to try LabVIEW classes on the robot, but could never quite figure out the implementation. I suspect that has more to do with our poor design rather than any inherent implementation limitation.

As you pointed out, the issue really is with tight coupling - we probably need to do a better job encapsulating functionality so that it's easier to implement something lighter.