Glitchy code!?!
 

Hey guys, i made my code up and it tracks the color, drives, turns left, right, Everything! .. quite happy.... but!! .. its very glitchy... im not using pm13-16... i just transfered my code to the user_routines_fast.c place where it loops faster, but havent tried it out.....

i noticed as it turns left, right ,, or does anything, i waits until its stopped recieving data, before it moves again.