[Swampdude]

I believe they started with Kevin's 2 versions (bells and no bells) but I know They made a lot of changes and then apparently had to completely write a new tracking part. It's impressive to to me since we (179) have never successfully used sensor feedback in a robot design, and this thing is covered with sensors. It also is using the gear tooth sensors. They have each system in PID loops and they (the programmers) use big words like "referential integrity" and "differential gain" that make it soften the locking process (which can get violent). But you can push it while it wants to lock on the light and it just keeps re-centering, but you also have the foot to contend with. Charlie (our code mentor) is amazing at this stuff - he was on team 267 Demolition squad years ago, and now were lucky to have him.