[Gdeaver]

Closed loop control systems are wonderful but, they present 2 problems introducing them into the FRC. They add complexity and cost. Remember, these are high school students and they are getting hit hard with allot of advanced concepts. First they have to master the pic IDE and c as it applies to the Pic 18. Then there is the default code and the basic electrical wiring. It's amazing that every year even rookie and bare bones teams get something working as it is now. Not ever team has access to EE's.

Then again there are teams that have students and mentors that are capable of adding closed loop control to the robot. I would be in favor of keeping the base FRC and motors as they are now. RS485 ports could be added to the controller and the rules changed to allow a coprocessor to drive the victors directly. Some basic coprossesor function libraries could be added to simplify and standardize the communications. This could be done with little added cost to the FRC.

This year a magnetic sensor was included in the kit. The year before an Allegro current sensor was included. How much would it cost to integrate the magnetic sensor or an output shaft for an encoder or photo interrupter into this years gear box? It wouldn't take to much time or money to close the loop on what we already have. It could be an out of the crate solution that all teams could use. The down side is that it would introduce interrupt hell in to the default code.