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Hope that answers your questions
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Not really. You stated
and I'm wondering if that is true or if you are using the PIC to do all the robot h/w interfacing and only using linux for processing of that data.
It *is* possible to have five lines of code if the robot isn't using ANY controller digital inputs or outputs and has no pnuematics or sensors of any kind attached to the robot controller. In this case you can just pass the data packet from the OI to the linux box and vice versa. If that is the case then such a setup isn't useful for most teams.