[Dave Flowerday]

Originally Posted by RIgnazio

there was nothing about using the plain english to run the controller.

I think you're misunderstanding exactly what it is they're providing. In the navigation code on the kevin.org site, you will find a file called "commands.h" that contains this:

struct commands command_list[] = {

/*   Command              parm 1     parm 2   parm 3   */
/*
{CMD_GYRO_BIAS,               0,        0,      0},
{CMD_WAIT_FOR_BUMP,         100,        0,      0},
{CMD_WAIT,                 1000,        0,      0},
{CMD_TURN,       -1571L,      100,      0},
{CMD_WAIT_FOR_BUMP,         100,        0,      0},
{CMD_WAIT,                 1000,        0,      0},
{CMD_TURN,        1571,      100,      0},
{CMD_JUMP,                    1,        0,      0},
{NULL,                        0,        0,      0}
*/

{CMD_GYRO_BIAS,               0,        0,      0},
{CMD_WAIT_FOR_BUMP,         100,        0,      0},
{CMD_WAIT,                 1000,        0,      0},
{CMD_DRIVE,                1500,        0,      0},
{CMD_WAIT,                 4000,        0,      0},
{CMD_TURN,       (-1500),       50,      0},
{CMD_WAIT,                 3000,        0,      0},
{CMD_DRIVE,                2400,        0,      0},
{CMD_WAIT,                 4000,        0,      0},
{CMD_TURN,        (PI_MRAD / 2),       50,      0},
{CMD_WAIT,                 4000,        0,      0},
{CMD_DRIVE,                2400,        0,      0},
{CMD_WAIT,                 4000,        0,      0},
{CMD_TURN,       (-1500),       50,      0},
{CMD_WAIT,                 1000,        0,      0},
{CMD_DRIVE,                   0,        0,      0},
{CMD_KEEP_HEADING,       240000,      100,      0},
{CMD_JUMP,                    1,        0,      0},
{NULL,                        0,        0,      0}

};

This scripting language is what they were referring to at kickoff. It's not "plain english" but it's much closer than regular C code .