[crake]

I'm putting on my moderator hat for a second.

This is be to a productive forum with constructive dialog. Please do not deviate from that.

Ok... now for my control system hat...

I'd like to say a few things. First off I wrote the brown out spec. It was reviewed by control system members and it was tested against real-world data before it was accepted and implemented. Is it perfect? No - there are things that could have been better. For instance, user rails probably don't need to be shut down as aggressively as they are. Also even though teams enter/exit brownout without even knowing (see Greg's post on this - the system does actually work), the interactions with the FMS can sometimes make it worse. Some of these things (FMS) can be adjusted, while others (user rail behavior) can not.

Greg, Joe, myself, and others are heavily committed to providing a reliable control system that enables team success. We are continuously looking at field and robot performance as well as community feedback to determine ways to make improvements.