[Al Skierkiewicz]

Brennan,
The chip to which you refer was not available at the time. The chip called for is easily scaled by one external resisitor to produce a usuable range for the input current we expected. Please note that this is a multichannel device intended to look at up to eight different current sense inputs and channel them for our use to the OI. We also developed this for a handheld unit which we then used to help teams troubleshoot problems. One of the first was the ThunderChickens which were using a multimotor transmission that year. It pointed out a dead motor in that system after team mentors had been scratching their heads for a while.
For anyone trying to develop another method, please remember that there does not exist a bipolar power supply on the robot to which standard analog options can be connected.