Cerebellum version numbers:

1.0 
original

1.1
Slows down max speed of tilt from 5 to 4.
Caps speed of steering servos at 4.
For those 5 servos, remembers the last position.

1.2
Slows down tilt speed to 3.

1.3
Tilt speed is now back up to 4.
Small changes to how the servos move

1.5
Changed the range of the steering servos.  Before the cerebellum was capable of sending the steering servos pulses that were too long and too short for the servo to handle.  The original servos on the prototype could handle these pulses, but the production servos cannot.  Because I have decreased the range of pulses, you need to change the servo range in the calibration program.  The servo range of the steering servos needs to be reduced from -105 to -97.

Exhibit version numbers:

1.0
Original version in the museums.

1.1
Slows down the drive motors to 80% on driveTo and turnTo
It's now a bit easier to get into Diagnostic.  Starts checking about 2 seconds after head nods and keeps checking for another 4.5 seconds.

1.2
Fixed the speed that the Stayton thinks the servos move so that it is the speed that the cerebellum now moves the servos in version 1.3.


cerebdl version numbers:

1.0
Original version to download code to the cerebellum