[velocipenguin]

I would have suffered greatly if not for the ability to divide everything into functions this year. Even if some of them are only called once, they still make it much easier to keep code organized, readable, and easy to debug. Our (failed) autonomous code has about 8 separate functions, each of which contains 20-30 lines of code. Trying to keep all that organized within Process_Data_From_Local_IO() would have been a nightmare, but dividing all of it into separate functions made coding a breeze. Sure, it might take another CPU cycle or two to jump to the appropriate memory location, but that's not much of a problem when the thing's running at 40 MHz.