[rohandalvi]

Ok. we need a coprocessor for a faster response time. With the current FIRST processor, the response to a touch sensors feedback is 30ms. We need to bring that down to 10 or 15 at most. Also we will use the basic FIRST CPU for the drive system
and we feel we need more processing power for the autonomous mode line
tracking and also for handling the sensor feedback during arm control.

As the arm moves, the forces change with the angle and hence we need to
crunch quite rapidly the angle as per a potentiometer output and the power
output of to the motor. Equally, when the arm is stopped at any position
other than straight down or straight up, we need to apply a variable amount
of motor breaking to resist the force of gravity. We learnt that the FIRST
CPU was not up to the frequency of calculations we require to make the
programming work properly.