[PhilBot]

Since I stared this thread, it has been interesting to watch and learn.

Something that I have learned while playing with the "IFI" vs "Kevin" PWM outputs is that there is appreciable less delay between request and response with the Kevin code.

Case in point, at the beginning of auto mode, my code starts setting the position of the steering motor. On the bench (since I didn't have a feedback pot hooked up) the RC called for motion on the steering motor right away.

I just had a Victor hooked up and I was looking at the indicator LED.

I am using the process_gyro() loop to detect when new feedback is available, and I was setting BOTH the pwm5 and pwm15 at the same point in the code.

So, with the victor plugged into pwm5, I click on Auto mode, and a heart-beat later, the Victor light goes off. However with the victor plugged into pwm15, the victor light goes off almost instantly after I click auto on (no perceivable delay).

The difference seems much longer than anything associated with a fraction of a normal OI update cycle (perhaps as much as 100-200ms) , so I'm confused but pleased. I think our steering will be tighter in the future using pwm15. I even decided to move 2 of our 4 wheels controler to the upper range as well.