[Astronouth7303]

Here's my list:

• Check to make sure that you compensate for different timings if they are.
  My story: Our hand shut-down code (To keep the hand from smoking if it grabs something) requires over-current 5 runs in a row. However, this was based on the 20 hz (whatever) main loop. I wrote my auton to run in the fast loop. So now in auton, it requires 40.
  
• Fix the bug in Main.c
  I've outlined this once or twice, but anyway. In Main.c, when you enter auton, it will run Process_Data_From_Master_uP() one more time on null OI data. In that sub, there is code to put an OI value into a variable (which was the auton setup). What you need to do is put that before the call to Process_Data_From_Master_uP(). And put a check to make sure the data is valid. (I also believe this will fix the PWM reset problem IFI described in the second release of the default code.)
  
• Get a dongle.
  Just do it. Don't argue.
  
• Write code while the robot is being built.
  This is my big lesson. I had about 2 days to code (That's regular code and auton). Auton never really worked for us...