Quote:
Originally Posted by davidthefat
Actually it might be in kernel mode. That explains why vXWorks does not have a system call system. You just go do it for yourself, there is no asking for the OS to do it for you.
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The 6.X version of VxWorks does have a system call interface (and normal block, character and network drivers) and processes (which they call RTPs or real-time processes) but the robot code does not use them. But RTP support is not included in the cRio BSP (board support package) provided to FIRST. All the robot code runs in the kernel context or mode.
HTH
Ultrasonic sensors will allow you to do fundamentally the same thing that the bump sensors do...so you can slow down and smoothly stop your robot just before it reaches the end wall, instead of running into it at full speed and then figuring out "ohh! there is a wall there!" - dlavery [more] 
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