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Unread 02-06-2014, 11:18
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Re: [FTC]: What is the reason teams are not allowed to connect Arduino directly to NX

[quote=Hot Wired;1388080]What is the reason teams are not allowed to connect Arduino directly to NXT?

This is my opinion, and is worth what you paid for it

The three most common reasons for requiring/not-allowing something in the general rules would have to be:

1) Safety
2) Level playing field
3) Smooth running of matches.

As far as adding something directly to the NXT's I2C, I would suspect that it could be a real problem for #3.

As someone who has spent A LOT of time debugging the I2C communications between the NXT and the DC Motor controllers (4 years), I would predict that any additional load on the NXT's I2C bus would have a very negative effect on the reliability of the motor/servo system currently in place. Plus, that additional traffic would increase driver latency, and would be totally unknown to the FTA and thus very hard to predict it's impact.

This would inevitably lead to failed autonomous runs, robot lags, NXT lockups and several other events that will be attempted to be blamed on the FCS.

Each season, subtle changes have been made to the internals of the I2C interface in an attempt to mitigate these problems, but it's clear to me that the NXT is barely keeping up with the processing requirements.

The good news is that the EV3 seems to be much more capable of having errorless I2C communications, so I eagerly await the day we can use it's more powerful processor.
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Phil Malone
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FRC1629 Mentor, FTC2818 Coach, FTC4240 Mentor, FLL NeXTGEN Mentor
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