Interesting information about the Scribblers

Today I found some commented code about the Scribbler/Fluke that seems very important for optimizing the operation speed of the Scribblers.  The most important thing the article says is that the amount of time that it takes for a Scribbler to do every calculation that it can do is shorter than the amount of time it takes for it to send/receive information via Bluetooth. This means that you want to make as few trips back and forth between the computer and the Scribbler by sending as much information to the computer as you can each time you must make a trip, and by having the Scribbler only ask the computer for instructions when absolutely necessary.

Here is a link to the code page:

http://www.cs.rochester.edu/~koomen/courses/robotics/memoscribbler.py