Day 15

Spend the whole day making changes to code.  The morning was spent trying to get the datalogger to get the string we were sending to it from the drive code.  We eventually got the GPS coordinates, but still no motor currents and voltages, they will just have to wait unit another time.  The rest of the day was spent in implementing a slow down and stop mode that is signaled from the power board to the control board (drive board) and putting a few more limits on the battery voltage and currents as the robot gets more power or not enough power.  I think we almost have it we are just having a problem with the power board trying to control the driving before we, the user, want it too!  Hopefully we will have it fixed by tomorrow morning and we can run a longer endurance test with the air sampler in tow.