[MrRoboSteve]

I have no knowledge of the internals of the FMS software, so these observations are based completely on the whitepaper and other public sources.

1. The minimum interpacket gap for 100mbps Ethernet is 0.96 µs.

2. The FMS code could take longer than 0.96 µs to send the "auto enable" command to each DS, depending on what the logic looks like in the FMS code. For example, there could be logging being written to disk between each initiate command.

3. The protocol between the FMS and the DS isn't documented in the whitepaper.

4. The FMS whitepaper says that robot <--> DS control packets are prioritized over video packets. I read that as saying that UDP 1130 and 1140 are prioritized over the other ports available for robot <--> DS communication. The whitepaper is silent about the relative priority of FMS <--> DS packets. A reasonable guess is that FMS <--> DS packets are at the same as robot <--> DS control packets. If this guess is true, it's unlikely that robot -> DS data on the open ports (e.g. camera packets) from the robot will interfere with the "auto enable" command from the FMS.

5. It is likely that one of these two statements is true:
a. The "auto enable" command is sent to each DS in the same order in every match (e.g., Red 1/2/3, Blue 1/2/3)
b. The "auto enable" command is sent to each DS in a purposely randomized order in every match

Why are these likely? Because a) is the easiest to code, and b) would be the logical alternative if they made a specific design decision here.

6. The FMS developers are likely to be curious about a thread on CD entitled "FMS enabling sequence."