[apalrd]

If you want information on 33, I can give it to you:

Software:
LabVIEW
Threaded, Teleop only gets driver data and sets variables.
multi-zone kick ball, made avg. 2 of 3 far zone, could attempt 5. Routines selected from operator control console, feedback on Driver Station verifies selection
-feedback on speed and triggers on distance, runs at 1.2 ft/sec to avoid 2-second rule penalties over 3 feet
WPI problems: Compressor no well documented, and can be highly inefficient if not used correctly. Cypress IO gives you last old data if you loose the Cypress board.
LV rebuilds and redownloads WPI every time it downloads, so I guess yes. I did make modifications to the Compressor lib.
PWM (Victors)
My laptop (student-provided).

Design:
Potentiometers on arm axis, kicker, and chassis articulatioin, broken-beam on ball sensor, encoders and gyro in drivetrain. Arm software uses both chassis and axis sensor to control chassis ride height.
No vision (any vision attempts caused problems in PID timing and control lag)
We rewrote the part that the default code has in Teleop to get a new image after it achieved its gyro setpoint, as well as light up the red light when the target was aligned.
6wd articulated-center for drop but raised when going over the bump
4 AM Plaction, 2 AM Omni
4 CIM drive
Almost entirely aluminum, mostly sheet metal, backbone frame welded.
top-roller pincher
Spring kicker
Frame sheet metal was waterjetted, everything else was done by hand (bandsaw, drill press, lathe, mill)
We hung from the vertical pole. In ATL we hung every match except one, where we were knocked off the pole and almost were able to get back on.
800:1 CIM, CIM->DeWalt->Toughbox->Chain


DriverStation:
Custom tabbed dashboard with camera image, tabs for Disabled, Auton, and Teleop with important match data, Debug tabs for sensor, setpoint, output, and other data for the pits.
Logitech gamepad for driver, "kitty's kat box" for operator, using Cypress board.
No problems with USB gamepad, lots of problems with Cypress comm (rebooting DS usually fixed this, so we booted the Classmate two matches ahead of time and didn't shut it down ever)
Logitech gamepad, nothing more special
The classmate itself was fast enough for DS and Dashboard, but having to reboot to regain Cypress comm or log out to clear FMS lock was far too slow.


Future:
Radio reliability
Improved Cypress comm (NI has informed us they know of a fix but FIRST would not let them release it during this season)
Loss of Kitty's Kat Box was very difficult, as it sends old data on loss of Cypress comm. If it boots up without the Cypress board, it will send all 0's so you can pull an input high and detect loss when the input is low.
No Cypress drivers with Driver Station causes Virtual DS to not find Cypress board.