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We listen to the commands from the second cpu but we can always bypass the unit. That is just a matter of using some dashboard switches to bypass the commands from the second cpu. Very simple stuff.
The small circuit breakers are the only concern for us. The large breaker is VERY tolerant. The small breakers pop quickly so there is no time for the driver to make the decisions.
Our robot is very fast so we are only planning on overload conditions during acceleration. Influencing other robots will be handled by ramming the goal or running away. The only way to pop the main breaker is to have high loads on more than two drive breakers.
The heavy math is required for PID control loops on the Gyro and the optical autopilot for a goal follower. Performing the filters on the Gyro data will consume more memory and performance than is available on the robot controller.
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