New C18 3.0+ Compatible FRC Code

[Ken Streeter]

Originally Posted by Kevin Watson

Of the teams that used my code last week, did any bugs pop up?

We used Kevin's code at the Week 1 BAE Systems Granite State Regional, and had no bugs at all pop up in Kevin's code! (Wish we could say the same for our code! )

We used Kevin's beta 3.0+ code (as of 2 Feb 2008) with the following features / modules:

• ADC usage to periodically sample absolute magnetic encoders on our primary drive wheels
• ADC usage to periodically sample absolute magnetic encoders for steering position on our "Speed Racer" robot configuration
• ADC usage to periodically sample a multi-turn potentiometer on our arm for our hurdling robot configuration ("Fezzik")
• Gyro usage for current heading on both robot configurations
• Our own "fast loop" at 100Hz running in Autonomous_Spin and Teleop_Spin for increased PID responsiveness, using a timer, as suggested by Kevin in another thread

All of the above worked beautifully! Autonomous modes on both robot configurations behaved very well, and we never had any troubles that we can attribute to Kevin's code. (We did, of course, have our share of problems, including tracking down a flaky magnetic encoder, our own bugs in our own code, and an IR board that lost its programming before our last qualifying match.)

Thanks, Kevin, for all of your work on the "new and improved" FRC code!