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Alternatives to RoboRIO or Robot Controllers
The CTRE HERO ( http://www.ctr-electronics.com/control-system/hro.html) is a popular option that has support for pretty much all you listed.
Alternatively, you can look for a team that can give you an old IFI controller or cRio, although that will have less functionality for your use case.
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2016: Team 5940 (Silicon Valley Regional Rookie All-Star and Quarterfinalist, Curie Quarterfinalist)
Volunteer: 2016 (Chezy Champs Field Reset, Capital City Classic FTA, MadTown ThrowDown FTA)
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