[eugenebrooks]

One thing to note is that on the field, the enable comes quite
quickly after autonomous, and on your manual box it may not
be so quick. This can foul any timer that is not checking for
both autonomous and enabled. I can't think of anything else
that I would expect to be different, other than potential radio
modem trouble. By measuring the time between packet loops
you can detect missed packets and show them with a counter
on the user display.

We have had trouble, during testing with our sensor test mule,
with measured run lengths being short, and long. Our test mule
used a shaved sprocket to trigger the sensor and the gap had
a lot of variation in it. We straightened it, and closed the gap
as much as possible. After that the measured distances seemed
much more repeatable, but not totally flawless. The wheel counters
in our competiton robot are different, running directly on the output
gear in the toughbox. The gap to the gear in this case is critical
because the teeth are small. I suppose that the next time we run
into this we should try the tether and see if it makes a difference.

There is always the possibility of residual gremlins in the 8722.
We have had more than our fair share of problems with it.
If the rules allowed the 2005 controller, upgraded with the latest
firmware, we would be using it. We have never had gremlins
appear on the prior controller.

Eugene