[mesamb1]

Back to your original question:
All most all of our autonomous routine this year should calls to subvi's. Anything that can possibly be used more then once will be in a subvi so that hopefully easing our debugging, and cutting down repeatedly writing the same task(something we did alot of last year).
We are also working with are electrical team to build a test bed with out of just motors and sensors. This way we have a way to make sure all of code works with out having to worry about the mechanical issues.
The technical change is to alter the vision code more to increase the speed. Our team has yet to be happy with the speed the vision system runs, but we think it can be slimmed down to run better in telop.