I'll focus on the HW answers (Greg can snag the SW):
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Originally Posted by Qbranch
How much resolution do the PWM outputs have? What frequency do they output at?
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A: The PWM periods are configurable and the 9403 DIO module has an update rate of 6.625us. The period would depend on the type of motor controller that is used. While I can not speculate on future motor controllers, I can say that the IO module was selected with this update rate (and the resulting resolution/period ratio) in mind.
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One last question on the 150lb weight limit: If this is true, why are batteries and bumpers not included in the weight limit? FIRST robots currently weigh a good deal more than 150lb with a full complement of bumpers and batteries.
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I don't know that answer for 2009 - that will be completely up to FIRST.