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What do you use for the OI?
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It's now called "Driver's station" (probably due to trademark issues), and has similar features as the IFI OI - disable/enable/autonomous, 8 digital and 8 analog inputs, 8 digital outputs, 4 USB ports, a small LCD screen, and two ethernet ports (one to robot, one to optional laptop for dashboard)
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If no more tethering, therefore in the pits we will program untethered and test untethered?
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No, tethering will just use a normal ethernet cable. You will most likely have to turn off the robot-side access point in the pits.