[Greg McKaskle]

Very good advice so far.

I'd add that with LV you can do a bit more unit testing than in C/C++. As an example, I assume you'll want to put code in your teleop for your manipulator. First write the button or joystick code, but just update global variables. You can disconnect the modules from the cRIO, run cables, and go ahead and test that you got the joystick logic correct and that setpoints to other modules look correct. Then you write a periodic loop to read the setpoint, read a pot, run through a PID to control the motor, etc.

Another tip for quicker LV coding. Avoid constants if you have any doubt of the end value. Instead, put the values into front panel controls and make your initial guesses be the defaults. Later when you can start running and need to tune, you can just type new values in without stopping, modifying, and rerunning.

Good luck.
Greg McKaskle