[Max Lobovsky]

Originally Posted by Alan Anderson

In rohandalvi's case, the appropriate "optimization" is almost certainly just a matter of putting the code somewhere it will run more often than the ~38 Hz communication rate.

I was referring to this part of his explanation when I suggested some ways to optimize code:

Originally Posted by rohandalvi

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.