[PhilBot]

Originally Posted by yoyodyne

I'll post the results of the lag experiment.

I'll be very interested to see that data

The gyro not withstanding, I also agree with Al.... mechanical systems like these robots come with large inherent delays built in.

If you want to determine the fastest response time of the drive/gyro, you could drive it with a Victor (just for a test). This would eliminate any pwm latencies. At least it would provide a mechanical/feedback best-case baseline.