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Clark
very nice baseline code. You used 'stepnum' to sequence the same way I did in my auton SW.
couple comments.
you left a debug statement intact - that will slow the cycle times way down
you have no ramping between changes in motor speeds (unless I missed it) If you switched the PWMs on our bot from 0 to 254 in one cycle the gearheads would spleen you with the jagged remains of the tranny shafts!
your timing is pretty long (120 counts is about 3 seconds) - if you have a fast bot then shorten the counts down, try it first, and then adjust as needed. Try driving your bot with the joystick first to get a rough idea of how long each step will take, and use 40 counts for each second - that will get you close.
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