[Nibbles]

Honestly I can't think of why you would want to use exceptions (or any error handling at all for that matter) on the robot, because it doesn't deal with literal user input. Errors (division by zero) means something wrong in your logic (a case for using assertions), and bad/conflicting input values (both upper and lower limit switches are triggered, say) should be handled when parsed and dealt with then, not inside a function that detects them.

On C++ programs, I only use it for passing down error messages through a large stack of functions, where I know it will be caught (as for the overhead, it can't be any worse then using a scripting language, or a custom-built method of passing down structs of data, but maybe I am just too ignorant). I go by the rule of thumb only add exceptions that you will be catching yourself (don't put them in libraries for other people to use).