[Thad House]

Originally Posted by Jared Russell

I would think that each DS is running its own polling loop asynchronously at ~50Hz (the rate of driver control packets). So even if the disabled bit toggles simultaneously for all six bots from the FMS (which it doesn't since the FMS->DS packets must be sent serially, but it ought to be close), there could be a 20ms swing in when each DS sends the first enabled packet depending on the phasing.

( I am just guessing at how the FMS and DS are architected here since I don't think it is publicly documented; please set me straight if I have made an incorrect assumption. )

Realistically, with our wireless links, synchronization is always going to be hard.

There's also another 20+ ms delay caused by the wpilibs if you use anything but the sample robot template. Could end up being up to 40ms depending on how the fpga loops.