[Greg McKaskle]

The DS communication contains the tele/auto and enable/disable bits, joystick values, digital and analog in values that the robot program is then able to operate on. More importantly, if the robot doesn't hear from the DS about ten times a second, the robot FPGA shuts down the outputs. This means that if someone unplugs and DS, unplugs a router, or if the robot goes out of range of the wireless, the robot will shutdown. If also means that the DS kill switch is always in the loop when doing outputs.

Greg McKaskle