New robot controller next year?

[MichalSkiba]

If FIRST wants to move towards either a longer autonomous period or splice it into a different section of the heat were dead-reckonning would be impractical, then a better processor would definately be needed. If a mock GPS system, multiple real-time IR, gyro,... sensors, and intra-alliance communication during the autonomous mode is a realistic goal for either this comming year or the one following, then I'd suggest using an ARM Thumb microcontroller, and programming in C.

The ARM Thumb uC has more then enough processing power and speed to comprihand the demands of keen programmers for years to come. Its core has DSP features such as barrel shifters and single cycle multiplication, to speed up signal interpretation. It was a plethora of General Purpose IOs and on-board peripherals that would allow the designs to be expandable (allowing for the addition of an NTSC/H.263 codec for feeding video streams).

C is fast, powerful and relatively easy to use. Additionaly, theres a better chance that a software mentor would be able to help out with C then with pBASIC. Teams won't have to program low-level hardware settings like registers if a kernel (and RTOS?) is provided by FIRST (most likely burned into a ROM). The kernel could be something like uCLinux for example. The kernel could include a block that would give FIRST admin privliages [FIRST = root], such as the ability to cut power to the robot (like at the end of a heat). Headers with libraries and various global functions could be provided by FIRST, or made public by various teams, to further ease programming.

I strongly beilive that there is enough time within the 6 week timeframe to learn fundamental C and to program the robot. If you already know one programming language, such as pBASIC for example, switching to another would definately be easier. Additionally, even more so then linux, there are huge talent pools and reasources avalible on the internet and in books, incase anyone has any questions about programming in C; far more then for pBASIC.

So what about teams that don't have enough people to dedicate to programming? Well, too bad. Autonomous was a critical element of last year's game, and I don't see a reason for why its importance should change this year. Therefore, select a person to do the programming.

Most of all, FIRST provides the oppertunity and environment for students to learn and excel. This should be extended to programming (and not limited by crappy hardware).


That's my $0.02 PLN


*S*K*I*B*A*