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What about a cluster of colored LEDs that will shine on the plexi of the drivers station aimed at about eye level?
My team originally thought of the LED clipped to the safety glasses thing but didn't want to have to deal with the quick disconnect for autonomous mode requirements.
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The only problem is for that to work you'd need some pretty bright LEDs, and the 10mA is unlikely to help you there (maybe if you used all 4 led pins). As for the HULED (Heads-Up-LED as i've just now dubbed it) you could take care of it pretty easily by just putting a standard headphone jack on the controller. I like headphone jacks because they're so easy to connect/disconnect, and they're compact. (Just don't plug a pair of headphones into it, they'll be destroyed instantly)