Co-Processor?

[Guy Davidson]

I recently ran into the AdamBots' informative wiki about their co-processor from last year using a gumstix. It sounds like a very intriguing idea. However, we were having our doubts as to how necessary or helpful it is. Obviously remote programming is nice. However, we have a few questions to anyone who's tried to use co-processors before, thought about it, or best, used them:

Do you see a significant change in performance (does the robot respond faster)?
Does the extra processing power help a lot (for example by making it feasible to do floating-point math and trig)?
Did you find you can use more sensors without a loss in performance? Or more in general, did you find you having a co-processor makes more complex code feasible?

For those of you who haven't seen it, here is the link to relevant part of the AdamBots' site:
http://www.adambots.com/index.php?title=Co-Processor