[MrB]

Thanks, but I didn't do much :-)

As for the RC and OI, you guys are right, I would guess, in the final drivable version (this was just a crude prototype) we would tether the RC and OI, and run them off the battery. It is either that or go to a completely different micro controller, and that doesn't seem like it is worth the effort until this machine is almost 100% operational.

I'm still worried that the Innovation FIRST equipment will not be able to react quickly enough to support a rider. It was never designed to work in real time. But then again, i've seen teams build robots as sophisticated as what were are trying to do...

To respond to the turning question, it doesn't not yet :-)

The prototype only gies forwards and backwards and is controlled by the input from 1 gyro. Will's plan is to add a potentiometer for CW/CCW rotation. That will probably be put into effect as soon as we build a new platform, in Sept.