[apalrd]

1. The OpenG Boolean Trigger and OpenG Data Changed VI's are required to run. They're not very complex VI's but I had them and they were nice to use.

2. The bias in drive_straight is actually not used. We initially used that to control drift, and it worked fine as long as we didn't change anything, but the slightest mechanical differences required us to re-tune it. We now use the gyro compensator to dynamically handle drift which works amazingly.

3. We used the 250-count AM encoders (just like the kit encoders) on modified SuperShifters, a previous KOP 150 deg/sec gyro (although the practice robot used the current KOP gyro 250deg/sec and it worked very well), a 270-degree pot on the wrist, and a 10-turn pot on the elevator.

4. There are a lot of legacy VI's in the autonomous system. As we added new features we wanted to keep our old routines working, so we have commands like DRIVE_GYRO_TURN_OLD, DRIVE_GYRO_TURN_BASIC, and DRIVE_GYRO_TURN to handle turns differently. The old one is the original turn code, BASIC is a modified version which is more accurate, and the plain one does a slower (only moving one side of the drivetrain) but much more accurate turn. Only the plain turn updates the heading target of the drive_straight. Likewise, DRIVE_STRAIGHT_BASIC just drives, while DRIVE_STRAIGHT does realtime drift compensation with the gyro.