[Kevin Sevcik]

Tom,

I think the code looks.... reasonably straight forward. But then, I'm a bit used to deciphering Labview code. It looks like most every function is going to be run through those XYZ-Open,Something,Close function blocks. Open XYZ on Port B at Slot A, either when the robot is turned on or when initializing into a mode. Do something to it. Close it when your robot turns off, stops needing it, or stops running the Labview code. I imagine the latter is important to not forget, since it could possibly confound things if you don't close these ports when you stop the code to make a programming change.

I'm a little concerned that I don't see any DaqMX tasks in this code. I realize it's slightly advanced stuff, but it's important slightly advanced stuff. You can set up hardware timed data sampling tasks that run at much higher frequencies than your background processing tasks, as well as setting up custom scales and all sorts of other things. Hopefully it's just that beta teams haven't gotten around to looking at that sort of thing yet, as opposed to it not being an option.

Borna,

A few followup questions from an interested bystander:
1. I assume the pink wires in and out of the various modules (DigMd, AnlgMd) are carrying module configuration info. Are the shift registers you have on these module configuration lines actually necessary? Could they instead just be simple tunnels, as with the Joystick in your main loop?
2. Is 25 Hz just a random loop timing decision on your part, or is it the recommended max loop rate?
3. The Victor/PWM modules seem to have some sort of deadband and transform setup. Does that configuration happen in a separate module?