[Joe Johnson]

It is my understanding that the Killer Bees (Team 33) do it every year (although I am not sure of the PID or just PI or perhaps P in terms feedback loop structure). I think that their 4 speed transmission more or less had to do everything from pick the gear to set the gas -- the driver joystick was used to set desired wheel speeds.

The Wise and Mighty Zondag once told me that his drivers merely make suggestions as to what the robot should be doing. The Code decides if it thinks the suggestions are any good. If The Code likes what is being suggested it tries to be accommodating, if not, well, that's why they are only suggestions...

Joe J.