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There are a few other factors (like loud music blaring in the background of every match) that you may want to take into account before having your robot or operator console play sound. See this discussion.
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I have read that discussion.
For the sound issue I was thinking about using headphones for the drivers is they could not hear.
I also wanted to have this as a "cool" factor to have our robot talk.
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Have you considered force feedback on your joysticks/controllers or adding bright lights to your operator console that change color when ready?
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We are using an xbox controller, I dont think it has any force feedback (but I might be wrong).
Thank you for the fast response!!