Which sensors should be used throughout the robot?

[Necroterra]

Originally Posted by AustinSchuh

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I see now why such accuracy would be necessary, we never aimed for anywhere close to that level of detail.

So if I understand this DMA thing, the FGPA reads off the sensor values on an event happening, and the relatively slow accessing of the memory can be done later? Wouldn't that still give you inaccurate data unless you added on the expected change since it was read?

Also, by upstreamed, do you mean it will be part of default WPILIB?

Also, I read about CAN a while ago and iirc it isn't designed to have a specific frequency of changing the message frame, it just does it whenever it has time within a certain range. You can mess with the frequencies, but then you run the risk of maxing out the buffer. I would guess that it's intended for more complex data communication, and PWM is definitely better for a sensor that outputs a single value.

As for the JNI bindings, wpilibJ loads up a library called "libwpilibJavaJNI.so", which I would assume is either the NI library or a bridge to it.