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Re: pic: FRC488 Octocanum.
Thanks for the compliments on how we've arranged drive articulation.
In the interest of keeping everything in one place, here's another brief video of the drive. The programming team has implemented field-oriented drive reliably enough to drive the robot freely.
http://www.youtube.com/watch?v=sM8cixsE5fo
I believe this is still at some fraction of top speed, but I'm not sure how it's being scaled. I also believe, but am not sure, that we're using two gyros to determine orientation. This stuff isn't my department. 
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--Madison--
...down at the Ozdust!
Like a grand and miraculous spaceship, our planet has sailed through the universe of time. And for a brief moment, we have been among its many passengers.
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