[jgrindle]

This puts my Kiwis PID loop to shame. I love going through your Code, it's so clean and organized. If I had the chance to redo my code, I would make it similar to yours, but surprisingly mine actually works somewhat nicely. I may redo parts of it, and make it look more like this, but my biggest problem would be encoders on the wheels. I'm currently only using a gyro to fix problems. I find it fun to compare the two different ways of implementing kiwi drives. If I had the chance(and parts), parts of my code would look more like yours! Awesome Job!