Sorry about the lateness of this, I just haven't had time to sit down and write this up. But I figure some teams still might be able to use it. At
http://www.combbat.com/programming/autonomous.shtml I have the tutorial. I came up with this code and then I saw in the white pages that some other people had a pretty similar idea for it too, so I wrote this up to help explain to rookie teams. Also, if any teams need help with their coding at the UCF Regionals or Nationals just come on by Team 21's pit and ask for me (Mike) and I'll come on over and help out. Good luck to everyone! If you need any help with your code you can also e-mail me at
miketwalker@cfl.rr.com and I'll try to see what I can do to help out. Can't wait to see what you guys do on the field! Good luck programmers.