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We had the same control system from the year I started (97) till 99. I do not know when they started using it.
As Ken said, the IFI system is a clone of the old one, better, but still a clone. The old one had a Basic Stamp 2, which means it ran slower and didn't have the separate programming slots or scratchpad.
There were less PWM outputs (8 I think), and 8 relay outputs. The relays were built into the same board as the rest of the RC, as were the fuses for the relays. You had to take off the cover to change the fuses. Moving to the separate spike relays was a huge step.
They used Motorola Radio modems. They were many times less reliable then the current 900mhz ewaves.
The Tekin speed controllers were rated at 20amps max, I believe. We ran them at 20 amps continuous. It was not unheard of for them to go up in smoke in the middle of a match.
In 97, you did have the 2 drill motor batteries as your only power source. And they didn't last very long either. There were also a lot less motors then. Only 2 drills, and a window and a seat, I believe. FIRST handled the charging of the batteries. You would turn in your batteries, and they would hand you two fully charged ones. When they added the van door motors in '98, we really did need the bigger battery. They also raised the weight of the robot that year from 120 to 130 to account for the extra weight of the battery.
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