[ayeckley]

Originally Posted by BigJ

Team 1675 is working on a new version of Autoflex that kind of does this, or could be extended to do this. Autoflex was a program designed by a former mentor for the IFI control system that recorded 15 seconds of certain inputs into the controller's EEPROM and played them back as a 15 second autonomous mode.

2252 has that capability now using plain-old LabVIEW (the basis for our Innovation in Control award at Buckeye). We're taking snapshots of the control inputs and writing a record to the the cRio filesystem vis-a-vis an .xls file every 50ms with no appreciable impact to the balance of the control system. There's a little bit of jitter reflected in the timestamps associated with each record (a couple of ms typically), but the error is non-cumulative. Playback offers no particular challenges since we load the file data into arrays during Disabled mode instead of in real-time. I plan to write a whitepaper about it in the offseason if anyone is interested. We hope to do a useful demonstration on the Curie field as well