[Greg McKaskle]

OS stuff include the DirectInput stuff to read the joysticks, detect a disconnect, and at one point it needed to locate the estop button.

The calls to read, configure, and deal with the Cypress.

There are a number of calls to locate NICs, identify whether their setup makes sense given the team number, and potentially even reconfiguring them.

There was a call to identify when the laptop was reawakened from sleep.

The Kinect stuff was pushed to a server, but that would be an issue if not using Windows.

The other stuff that the DS does is to fire up 12 separate loops speaking unique protocols to FMS, robot, Kinect, Cypress, Dashboard, keyboard, joystick. Then it logs and charts the stuff and tries not to use much CPU.

A number of folks have written their own DS mimic'ing the basic protocol to and from the robot. As long as you keep safety in mind, it is a good project to take on. Just be sure to test all the things that would cause an out of control robot.

Greg McKaskle