[ablahblah]

Alrighty then...
Currently the only lockout I can implement is a direct programming lockout (power to rotational source and arm is mutually exclusive), and I don't know whether I can do much else in our timeframe though.

Chasing down other people in the alley...hmm, thanks for saying that. We were planning to eventually venture out depending on how the other team is doing, for defensive reasons, so I guess we'll have to watch what we do when leaving it.