[Ackermani]

One example, Skunkworks swerve drive. From experience in past years, running full scale vector math for a holonomic drive base of any sort eats up the majority of the IFI's capability. With the ramping of speed on our lift and the array of PID's controlling everything (not to mention the camera), our controls would lag significantly. Also, I've been working on some equation handlers capable of calculus operations, so I've been pretty happy with the cRio system.