[BrianBSL]

We will be posting the code early next week. However, it works differentally than you would expect. First of all, our autonomous hang is completally sensor driven - wheel counters on the wheels, an ultrasonic sensor for distance to the stairs and to the 6" step in front of the bar, and a pitch and yaw gyro sensor to check for going up the stairs, turning etc.

Also, our autonomous works on an array of structs that has distances, gyro headings, a flags byte to turn on and off certain settings, etc.

It'd be something interesting to look at for others, but I would have to agree it would be pretty useless to implement it on your own without a lot of work. The array of structs setup could be useful to others though.